- Book Chapter
- 10.1007/978-3-032-04758-8_22
Research of the Impact of Trajectory Algorithms Interpolation on Energy Efficiency and Operation Execution Time for Collaborative Robots
- Oct 31, 2025
- M A Gorkavyy + 2 more +2
Publications from 2021 to 2026
Showing 10 of 112 papers
Research of the Impact of Trajectory Algorithms Interpolation on Energy Efficiency and Operation Execution Time for Collaborative Robots
Fiberglass Recovered from Epoxy Composite Material Using Solvolysis in Pyridine
The Transformation of International Relations in East Asia at the Turn from the Twentieth Century to the Twenty-first Century
The role of various institutions and countries in the transformation of the world order in East Asia during the period of the late twentieth century through the teens of the twentieth century is examined. It is noted that at the end of the 20th century, the American model of the regionalization process, carried out within the framework of APEC, dominated. However, due to changes in the US foreign policy doctrine and the Asian economic crisis of 1997–1998, APEC, in the early 2000s, began to give way to ASEAN+, in which Japan occupied the leading position. Since the mid-2000s, China has been becoming stronger thanks to successful economic reforms and the use of various integration platforms. As a result, China began to promote its own model of globalization and regionalization in the region, which challenged the American order not only in East Asia, but also in the Asia-Pacific region. In the late 2000s, Washington sought to regain lost positions in the region by promoting the Trans-Pacific Partnership integration project, which intensified the struggle between the leading powers for dominance in the region. As a result, in the 2010s, ASEAN+ and Japan began developing the RCEP project, while China began to promote the Belt and Road international cooperation organization. As a result of the transformation of international relations caused by the movement of the world from unipolar to multipolar, there has been a change in the transformation of the geopolitical situation in East Asia. The United States returned to “traditional” methods of confrontation, increasing tension in the region and the world.
Read moreSynthesis, Structure, and Properties of a Copper(II) Binuclear Complex Based on Trifluoromethyl Containing Bis(pyrazolyl)hydrazone.
A new complex of copper(II) with methyl-5-(trifluoromethyl)pyrazol-3-yl-ketazine (H2L) was synthesized with the composition [Cu2L2]∙C2H5OH (1). Recrystallization of the sample from DMSO yielded a single crystal of the composition [Cu2L2((CH3)2SO)] (2). The coordination compounds were studied by single-crystal X-ray diffraction analysis, IR spectroscopy, and static magnetic susceptibility method. The data obtained indicate that the polydentate ligand is coordinated by both acyclic nitrogen and heterocyclic nitrogen atoms. The cytotoxic activity of the ligand and complex 1 was investigated on human cell lines MCF7 (breast adenocarcinoma), Hep2 (laryngeal carcinoma), A549 (lung carcinoma), HepG2 (hepatocellular carcinoma), and MRC5 (non-tumor lung fibroblasts). The complex was shown to have a pronounced dose-dependent cytotoxicity towards these cell lines with LC50 values in the range of 0.18-4.03 μM.
Read moreAnalysis of the hydrodynamic causes of thrombosis and hemolysis in the centrifugal pump of the artificial blood supply system
The article is devoted to the analysis of the hydrodynamic causes of complications of the use of centrifugal pumps in artificial circulation systems. In the treatment of cardiovascular diseases, rotary pumps began to be used: centrifugal, axial and disk. Of the three types of rotary pumps, centrifugal pumps have the highest power density due to the use of centrifugal force. Statistics show that the greatest blood damage in the form of thrombosis and hemolysis is observed in these pumps. The article concludes that the main hydrodynamic cause of thrombosis and hemolysis is the force field formed by the centrifugal force of inertia, which generates vortex and separation zones. When passing through these zones, red blood cells experience intense hydrodynamic effects in the form of local accelerations and impacts against the walls of the channels, which leads to their deformation, and then to the destruction of some red blood cells. On the one hand, thanks to this force, the intensity of energy conversion in a centrifugal pump becomes higher compared to other types of pumps. On the other hand, a large unevenness of speed and pressure occurs in the channels, which has a traumatic effect on red blood cells. Hydrodynamic solutions to weaken the force field that injures red blood cells will inevitably be accompanied by a decrease in the intensity of energy conversion and the benefits of using this type of pump.
Read moreLimit state analysis of the thin-walled shell using a forming limit diagram and finite element modeling
The study considers the problem of estimating the limiting state of thin-walled cylindrical shells loaded with internal pressure. A diagram of limiting deformations is used as a method for estimating the limiting state of shells. The upper limit of permissible deformations satisfying the kinematic criterion of limiting deformation is determined based on the Side-Rice criterion. Using the finite element method, a series of numerical experiments on the loading of the inner shell at different heights of the loaded region in comparison with the diameter of the shell were carried out. Thus, the formulation of the problem made it possible to evaluate the effect of edge effects on the deformed state of a thin-walled shell. The results of the calculation of the limiting state of the shell can be used to develop a system for detecting cracks in turbine blades due to a system of thin-walled capsules under internal pressure.
Read moreОптимизация роботизированного технологического процесса на базе нейросетевой имитационной модели энергопотребления
Представлена процедура синтеза нейросетевой имитационной модели энергопотребления промышленного робота для повышения энергетической эффективности роботизированных процессов, характеризующихся ограниченным классом комплексов траекторий перемещения. Рассмотрен роботизированный технологический процесс укладки блоков, идентифицированы его параметры и разработана редуцированная модель энергопотребления промышленного робота с использованием интеллектуальных инструментов в среде MATLAB. Проведено аналитическое исследование энергетических затрат на исполнение фрагментов траекторий для подтверждения целесообразности предложенного подхода к оптимизации роботизированных технологических комплексов. Приведены анализ адекватности полученной модели и результаты оценки эффективности ее применения.
Read moreУправление параметрами топливоподачи с целью снижение выбросов диоксида углерода судовыми дизельными двигателями
Выполнено моделирование рабочих процессов судового дизельного двигателя MAN D&T серии MC с целью снижения выбросов диоксида углерода с отработавшими газами. Целью моделирования был поиск конструктивных и эксплуатационных решений, влияющих на эмиссию СO2. При выполнении расчетного исследования использовалась математическая модель комбинированного двигателя внутреннего сгорания, реализованная в компьютерной программе ДИЗЕЛЬ-РК. В качестве исследуемых переменных приняты степень сжатия, угол опережения и продолжительность впрыска топлива, значения которых можно устанавливать без внесения существенных изменений в конструкцию двигателя. Получены математические модели в виде уравнений регрессии, описывающие влияние исследуемых параметров подачи топлива (степень сжатия, угол опережения впрыска топлива и продолжительность впрыска топлива) на целевые функции – удельный выброс диоксида углерода и эффективная мощность дизельного двигателя 6S60MC. Для определения коэффициентов уравнения регрессии реализовано планирование полного факторного эксперимента второго порядка. С целью поиска минимального значения выбросов диоксида углерода используя метод обобщенного приведенного градиента решена задача выбора оптимальных значений степени сжатия, продолжительности впрыска топлива и угла опережения впрыска топлива для заданной эффективной мощности судового дизельного двигателя 6S60MC. Показано, что, например, при мощности двигателя 10000 кВт снижение выбросов диоксида углерода за счет оптимизации указанных параметров топливоподачи будет равно 7,37 %. The simulation of the working processes of the MAN D&T MC series marine diesel engine was carried out in order to reduce carbon dioxide emissions with exhaust gases. The purpose of the simulation was to find design and operational solutions that affect CO2 emissions. When performing a computational study, a mathematical model of a combined internal combustion engine implemented in the DIESEL-RK computer program was used. The studied variables are the compression ratio, the advance angle and the duration of fuel injection, the values of which can be set without making significant changes to the engine design. Mathematical models are obtained in the form of regression equations that describe the effect of the studied fuel supply parameters (compression ratio, fuel injection advance angle and fuel injection duration) on the target functions - specific carbon dioxide emission and effective power of the 6S60MC diesel engine. To determine the coefficients of the regression equation, planning of a complete factorial experiment of the second order is implemented. In order to find the minimum value of carbon dioxide emissions using the generalized reduced gradient method, the problem of choosing the optimal values of the compression ratio, fuel injection duration and fuel injection advance angle for a given effective power of a 6S60MC marine diesel engine is solved. It is shown that, for example, with an engine power of 10,000 kW, the reduction in carbon dioxide emissions by optimizing the specified fuel supply parameters will be 7.37%.
Read moreСовершенствование судовых станций приготовления питьевой воды с использованием синергетического эффекта активированных окислительных технологий
В статье рассмотрены особенности применения активированных окислительных технологий в судовых станциях приготовления питьевой воды. Рассмотрены процессы обеззараживания питьевой воды с использованием кавитации, УФ-излучения, озонирования. Показано, что применение перечисленных высокоэффективных процессов может значительно уменьшить потребность в реагентах, улучшить массогабаритные показатели, энергопотребление судовых станций приготовления питьевой воды. Предложено применение агрегата комплексного обеззараживания озонированием и УФ-излучением, совмещающего функции озонатора и устройства УФ-обеззараживания. Использование данного устройства сможет повысить надежность, ремонтопригодность, снизит массу, габариты, потребление электроэнергии станцией приготовления питьевой воды в целом. Обозначены достоинства и недоставки указанных способов обеззараживания питьевой воды. Обоснована функциональная схема станций приготовления питьевой воды с использованием синергетического эффекта активированных окислительных технологий. The article discusses the features of the use of activated oxidation technologies in ship stations for the preparation of drinking water. The processes of disinfection of drinking water using cavitation, UV-radiation, ozonation are considered. It is shown that the use of the listed highly efficient processes can significantly reduce the need for reagents, improve the weight and size indicators, and the energy consumption of ship drinking water preparation stations. The use of a unit for complex disinfection by ozonation and UV-radiation, which combines the functions of an ozonator and a UV-disinfection device, is proposed. The use of this device can increase reliability, maintainability, reduce weight, dimensions, and electricity consumption by the drinking water preparation station as a whole. The advantages and disadvantages of these methods of disinfection of drinking water are indicated. A functional diagram of drinking water preparation stations using the synergistic effect of activated oxidation technologies is substantiated. Keywords: drinking water disinfection, cavitation, UV-radiation, ozonation, ship water supply, activated oxidation technologies, drinking water preparation station, drinking water preparation technology.
Read moreTHE LIFE OF THE CHINESE ON THE TERRITORY OF THE AMUR REGION IN THE 1860s (BY THE MATERIALS OF THE REGIONAL PERIODICAL PRESS)