Purpose of reseach is to identify the causes of cracks during welding of high-pressure vessel body made of titanium alloy.

Methods. Features of welded joint microstructure of high-pressure vessel body made of titanium alloy are described and studied by color flaw detection methods, fluoroscopy, and examination of the cuts. The causes of cracks in the bodies of pressure vessels are identified. The causes are a combination of internal stresses and structures features.

Results. Based on the analysis of cut samples microstructure, it follows that the stamping of the power element was supplied without preliminary heat treatment. The formation of crack foci on the inner surface of the power element, at the place of alloy transition to the area of the attachment site, is primarily associated with large volumetric internal stresses, which are additionally summed up with surface stresses from machining and thermal stresses during welding. Based on the obtained data, it follows that when using a specialized tooling with a copper backing that provides pressurization of inert gas, welding stresses in a weld area are reduced by several orders of magnitude compared to the area where the tooling was without copper backing. As a result of the study, it was revealed that the causes of cracks in the bodies of high-pressure vessels are a combination of internal stresses due to the lack of preliminary thermal treatment of power elements made of titanium alloy, which are part of a high-pressure vessel, as well as stresses arising during welding of the power element with shells, considering design features.

Conclusion. To eliminate the cause of cracks, additional experimental work was carried out. Surfacing the manual ADF of reinforcing roller into the zone of maximum stresses of the power element was done. The proposed solution met expectations - all the bodies of high-pressure vessels passed hydraulic tests, which made it possible to preserve material part.

Equipping heat points with plate-type heat exchangers is an integral structural element of the 3rd generation heat and power network and a component of the reliability of the heat supply system as a whole. It has been established that the optimization calculations of heat exchangers of this type are difficult due to the absence of dependences on heat transfer and hydraulic resistance between the channels in the structural space of the heat exchanger.

Purpose of research. To clarify the method of calculating plate heat exchangers, excluding the equality of thermal and hydraulic conditions from the generally accepted assumptions.

Methods. The research methodology is based on the use of the law of conservation of mass in order to determine the temperature parameters of working fluids in each channel. The solution of this problem is proposed in the form of a system of equations, each of the equations of which characterizes the thermal balance of the channel under consideration. A computer model of the heat exchanger is constructed in order to conduct a numerical study of the thermal regime of the heat exchanger.

Results. It is indicated that as an assumption in the well-known mathematical model for calculating the thermal regime of a plate-type heat exchanger, the condition of equal distribution of fluid flows between channels is accepted. This restriction leads to equalization of liquid temperatures in each channel. Taking into account the geometric arrangement of the channels, the excess of the final temperature of the heating and heated coolant in the first and last channels with respect to known data is up to 10%. The results of the study confirm the hypothesis of uneven heating of the coolant along the length of the plate package due to the uneven flow distribution between the channels.

Conclusion. The results of analytical calculation and modeling in the SolidWorks environment of the temperature regime in the channels of a plate-type heat exchanger indicate a significant influence of the geometric arrangement on the thermal regime in the channels. The formulated provisions of the mathematical description of the unevenness of the thermal regime of heat exchange channels, taking into account the location of the plates, are recommended to be used when improving the design parameters of plate-type heat exchangers.

Purpose of research. The research presented in this article is aimed at improving the speed of finding a path for the movement route of robots. The scientific novelty is the obtained correlation of time and field size.

Methods. To find the path in the maze, the depth-first search and breadth-first search algorithms were used, the basis of which is the cyclic processing of adjacent previously unvisited graph vertices. Performance is estimated in terms of the speed of program code execution on prepared samples. Scientific novelty was obtained by studying the influence of map sizes on the performance of depth-first and breadth-first search algorithms.

Results. A software implementation of breadth-first and depth-first search algorithms has been developed. The article provides a more detailed description of the breadth-first search algorithm in the form of pseudo and program codes, which are based on the while loop, where the queue of checked graph vertices is processed. Based on the evaluation of the speed of the found path, it was concluded that the breadth-first search is not the fastest. Based on the assessment of the influence of various factors on the speed of the algorithm, it was concluded that an increase in the size of the field, a decrease in the number of obstacles and a distance between the starting and final points increases the execution time of the algorithm.

Conclusion. The breadth-first search algorithm and its software implementation were presented. In the course of experimental studies, it was found that this algorithm is not the fastest in time, but in all tests, it found the shortest path. The correlation ta = f(w, h) was also obtained for the prepared samples of the desired field, which is expressed as the dependence of the algorithm execution time on the length and width of the field. And we can conclude that it is applicable for finding the movement path of robots, since it always finds the shortest path.

Purpose of research. The purpose of research is to increase the efficiency of control over the movement of steel ladles in steelmaking, through the development of mathematical and software.

Methods. The control of the movement of steel-pouring ladles can be divided into 2 parts: the first is the object detection in the image from a camera located on a certain section of the route, followed by determining the position of the object in the frame, and the second part is identification based on an array of data from different systems. Methods used in research are: mathematical modeling, neural networks, the basics of the theory of algorithms construction, as well as software and hardware of modern computer technologies. The article describes a model for the routes generation for the movement of steel ladles, on the basis of which the control of the movement of steel ladles is carried out. Algorithmic support is a combination of such algorithms as: an algorithm for generating possible routes for moving steel ladles, an algorithm for determining the position of a steel ladle on a route for moving steel ladles, an algorithm for identifying a steel ladle and a generalized algorithm for processing information. The structuralfunctional organization of the tracking system for steel-pouring ladles in steel-smelting production is given.

Results. Experimental verification of algorithmic support was carried out on a test data set, which was formed from real technological data. Adaptation and tuning of the algorithms and software will make it possible to apply this software system in steelmaking plants with a different composition of plant units.

Conclusion. Control over the movement of steel ladles allows build the process so that the movement of liquid steel will cause minimal heat loss. The need to heat steel in secondary processing units is correlates with energy costs. Thus, reducing heat loss and downtime of steel ladles will reduce energy costs for the entire process.

Purpose of research. The article is devoted to the development of an algorithm for controlling the movement of a controlled mobile platform of a passive mechanotherapy ankle joint apparatus. One of the most common injuries sustained by humans is damage to the ankle joint in sports, domestic, industrial exercises, and as a result of car accidents. Falls from heights with a landing on the feet, including parachute jumps, also often result in ankle injuries. In order to increase the effectiveness of rehabilitation, mechanotherapy is usually used. The relevance of the topic is related to the high efficiency of robotic rehabilitation devices, which, thanks to back-linking and electrically controlled actuators, can perform lower limb movements in an optimal way.

Methods. The structural diagram of the device control system has been developed. The proposed algorithm uses the strategy of paralleling control actions with the use of corrective and reference controls to calculate control voltages. Presence of force-moment feeling system enables to estimate change of reaction value in time and timely fix the moment of spastic effects appearance, muscle contracture and automatically make changes in foot movement laws in order to exclude patient's traumatisation and pain syndrome elimination.

Results. A methodology for constructing the desired dependence of foot rotation angles on time in the sagittal and frontal planes is proposed. We have developed an operating algorithm for the laws of motion and decision-making block, an algorithm for generating control voltages from the reference model, an operating algorithm for the voltage correction block, and an operating algorithm for the reference model correction block. As a result of virtual tests on the mathematical model of the device, we obtained the basic patterns of motion of the actuator in the form of dependences of the rotation angle of the platform from the time.

Conclusion. The results of testing the device show that controlling the movement of the actuator for active-passive mechanotherapy of the ankle joint using the algorithms described in the article is reasonable.

Purpose of research. The purpose of the study is to formalize one of the optimization criteria in the management system for the implementation of National development projects in the region of the Russian Federation.

Methods. The methods of system analysis and decision-making were used in the study, which made it possible to determine such an optimization criterion in the management system for the implementation of National development projects in the Russian Federation region as the ability to return to the original target program for the implementation of National projects in the regions of the Russian Federation, determined by the reaction to an error at the end of the transition process.

Results. An optimization criterion has been developed that determines the ability of the management system for the implementation of National development projects in the region to return to the specified target program for the implementation of National projects in the regions of the Russian Federation. Identification of the prevalence, or excess of error, in the dynamics of indicators of National projects of the Russian Federation will allow for timely adjustment of management decisions taking into account the time factor.

Conclusion. The obtained optimization criterion in the management system for the implementation of National development projects of the Russian Federation region will further determine the optimization task - the search for a controlling influence on the system of indicators of socio-economic development of the region in the context of the implementation of National projects of the Russian Federation.

Purpose of research. The research presented in this article is aimed at improving the accuracy of determining the color shade. The developed fuzzy-logical color recognition system was used as the subject of the study. The efficiency indicator was the result of calculating the sensitivity area percentage and RMSE of the developed method.

Methods. A method based on fuzzy logic has been developed and implemented, namely, on the structure of Mamdani's fuzzy inference, which consists of the following stages: fuzzification, fuzzy logical inference, defuzzification. Triangular membership functions were used at the fuzzification stage. As a compositional rule, 12 input variables were used, combined on the basis of Zadeh's compositional rule in 27. At the defuzzification stage, the area ratio method was used. The object of the study was the developed mathematical model for determining color.

Results. A mathematical model has been developed, consisting of 4 steps, which guarantees a clear definition of 9 colors and their shades. Based on the estimation of the root of the mean square error, it was concluded that the proposed model is better than traditional options. It is expressed by the fact that the developed method reacts on the interval of the entire surface of output variables, while traditional methods have dead zones to changes in input variables.

Conclusion. A fuzzy-logical color recognition system was developed. In the course of experimental studies, it was found that the RMSE and sensitivity indicators have better results in relation to other systems.

Purpose of research. The main goal of this work is to increase the efficiency of automated game learning based on cognitive modeling. Based on the methodology of system analysis and cognitive modeling of weakly structured situations, the structure of a gaming automated training complex is proposed, which can be used in training personnel in various subject areas. In our case, staff training was simulated in stereotypical and non-stereotypical situations.

Methods. This work is based on the general provisions of systems theory and system analysis, mathematical graph theory (which is based on cognitive modeling). The main tool of cognitive modeling was the construction of fuzzy cognitive maps of Silov. A modification of the algorithm for calculating the main system indicators of a fuzzy cognitive map was proposed. Game modeling, based on business games, was used for automated learning. The concept of an operational game was introduced, then modeling of the development of some unfavorable situation was carried out using fuzzy cognitive maps..

Results. he main result of this work is the method of cognitive modeling of information support for game-based automated learning. Based on the developed methodology, a game simulation simulation of the operational game "House Fire" was carried out, which was based on the construction of a fuzzy cognitive map, for which the main quantitative system indicators of mutual influence, consonance and dissonance were calculated.

Conclusion: the developed methodology allows for game modeling of unfavorable (including emergency) situations, which in the future will ensure adequate behavior of students in real situations.

Purpose of research. Computing networks of a plurality of processor modules have existed for a long time, however, with the development of wireless technologies, the possibility of high-quality and inexpensive implementation of the idea of real-time reconfigurable computing networks (RRTCN) has emerged. The purpose of this work is to select a wireless data transmission network for the RRTCN and create an algorithm for the dynamic selection of the "master" processor module.

Methods. The research methods of the work are based on the definitions of the theory of sets and graphs. In particular, a grapho-theoretical approach to distribution is taken as a basis, supplemented by the introduction of a system of criteria for a reconfigurable real-time computing system based on a wireless data transmission protocol.

Results. In this paper, the most suitable data transfer protocol for the local RCSRV is selected, a developed mathematical model of changing a real-time computing system built on a wireless protocol is presented, and an algorithm for selecting the processor module (PM) of the RCSRV "master" is developed. The novelty of the work is the use of the distance matrix for the mathematical description of the change in the RRTCN and its use to determine the PM of the "master" in the aircraft.

Conclusion. The developed algorithm for choosing the PM of the "master" RRTCN and the mathematical model of changing the position of the PM in a real-time computer system built on a wireless protocol allows organizing the optimal choice of the PM of the "master" in a reconfigurable computing system. On the basis of the presented mathematical model, in the future, it is possible to create a full-fledged mathematical model of the RRTCN and an algorithm for placing tasks in it.

Purpose of research. The main purpose of this work is to improve the quality and efficiency of managerial decisionmaking based on the development of a method for assessing and forecasting economic risks of an enterprise. This method is based on data mining technology.

Methods. The paper uses methods of panel data processing and analysis, for which a mathematical model for predicting the level of competitiveness of an enterprise was built, as well as a model for predicting economic risks of an enterprise based on combining several methods of data mining: clustering of merging panel data for assessing economic risks of an enterprise and the method of merging fuzzy correlation for statistical analysis of panel data.

Results. As a result of the application of the developed method, quantitative assessments of the level of competitiveness and economic risks of the enterprise were obtained. Based on the obtained quantitative assessments of the level of competitiveness and the level of economic risk, a cluster analysis of enterprises in some industry was carried out. The developed methods have high accuracy in predicting economic risks of enterprises, improve the capabilities of data mining and combining information about economic risks of enterprises, which increases the competitiveness of enterprises.

Conclusion. A method of forecasting economic risks of an enterprise based on data mining technology has been developed. Weighted estimates of spatial features of panel data were obtained, which allow to obtain integral estimates of the economic risks of the enterprise and the level of competitiveness of the enterprise. A model for the analysis of fuzzy rules of semantic features of panel intelligent data analysis of the assessment of economic risks of the enterprise is proposed. The analysis shows that the developed method has high accuracy and better protection against interference when predicting data.

Relevance. The development of aviation technology is associated with the development of new means that directly ensure the movement of aircraft (AF) at the airfield. To carry out ground maneuvers with aircraft, towing airfield systems (UAS) are used, which can significantly reduce noise and air pollution near the airport, as well as reduce the inefficient resource consumption of aircraft engines and provide significant savings in aviation fuel. UAS is also used when the aircraft loses the ability to move and is located on or near the working area of the airfield, which creates a serious problem leading to the closure of the airport for flights, while airlines incur significant losses.

Purpose of research. Improving the efficiency of the towing airfield system through the development of an information system. Objectives. Development of the structure of a robotic towing airfield system, drawing up a structural diagram of the ACS layout of the towing platform, design of block diagrams of the logical controller of the ACS platform.

Methods. The level of horizontal deviation of the platform from the contrast line was chosen as the setting influence determining the position of the platform in space, which is measured by analyzing images coming from the technical vision system installed on the tow truck. Results. In the course of the study, the structure of a robotic towing airfield system was developed. Based on this structure, a block diagram of the ACS layout of the towing platform was designed and a block diagram of the logical controller of the ACS platform was developed.

Conclusions. 1. The structure of a robotic towing airfield system has been developed, including a mobile tow truck, a coupling device, an aircraft, and an on-board control system. 2. An algorithm for controlling the positioning of a robotic towing airfield system based on the logical processing of signals of an optocoupler matrix has been developed. 3. Algorithms have been developed for controlling the movement of the RBAS along a given contrast line under the action of external disturbing influences of a deterministic and random type, allowing for high-precision movement of the RMB.