Introduction. The “Smart Agroˮ committee of Research and Education Center “Engineering of the Future” has identified a number of tasks relevant for improving the efficiency of precision, soil-protecting and conservation agriculture. One of these tasks is the development of a digital multi-agent system, which provides a number of services for agricultural enterprises, developers and manufacturers of agricultural machinery. The purpose of the present study is to model an autonomous mobile robotic platform, including the development of software and hardware for trajectory control. Materials and Methods. To solve the problem, there are used modern CAx systems and their applications, the methods of 3D and full-body modeling, and the method of numerical solution of problems in solid mechanics. To expand and improve the standard functionality of CAx-systems (SolidWorks) in the software implementation of trajectory control algorithms, the methods and technologies of programming using API SolidWorks, VisualStudio C++ (MFC, ATL, COM) are used, and to build physical full-scale models ‒ Arduino and fischertechnik platforms. Results. The result of the study is a software and hardware module of trajectory control for an integrated (physical and virtual) model of a mobile robotic platform, which can be provided to the consumer as a service for technology autonomation. For the developed integrated model, control algorithms for various types of trajectories were tested. Discussion and Conclusion. The developed integrated software and hardware model of trajectory control can be used by developers and manufacturers of agricultural machinery, and directly by agro-enterprises for implementing typical technological processes. A feature of the implementation is an open hardware and software interface that provides the integration of mobile robotic platforms based on a digital multi-agent system.

Introduction. Developing a method for energy-efficient grinding of fibrous vegetable raw materials to avoid the clogging of grids remains an urgent task. The aim of the research is to study the process of grinding dried fibrous plant materials and to estimate the influence of the device operating characteristics on the quality of grinding and the process energy intensity. Materials and Methods. The experimental apparatus is a rotor grinder. Its working bodies are alternate knives and hammers. When a hammer is in motion, its triangle side creates the reduced pressure area. There was studied the influence of the linear velocities of knife motion and of feed of raw materials on fractional composition of the grinded materials, grinder productivity, and grinding specific energy capacity. Results. It is found that the change in the fractional composition of the grinded product occurs when the speed of the rotor knives increases. Optimal range of knife speed for producing the product of the required fractional composition is 55‒75 m/s. The increase in the speed leads to increasing productivity, but is accompanied by the growth of specific power intensity. If the rotor speed is constant, the increase of raw material feed increases the grinder productivity, but only up to a certain value. After that, the productivity decreases because of excessive filling of the working chamber with raw materials and clogging of the grates. For each value of the knife speed, there is an optimal feed that ensures the maximum productivity. High values of knife speed lead to significant energy intensity of the process and overgrinding of raw materials. Therefore, the optimal range of knife speed is 55‒65 m/s. Discussion and Conclusion. Effective grinding of raw materials is achieved through lower energy capacity of grinding process and absence of grate clogs resulted from separating particles from the surface of plants to be grinded.

Introduction. Grain losses caused by stripping defects are the main problem to be solved in designing a stripper header. To reduce these losses, a design of a stripper header with a vibration drive is proposed. This device combines the processes of stripping grain crops and the vibration effect of the stripping fingers upon the ears of plants. The most important stage of the mathematical description of these processes is composing the differential equation of the stripping fingers motion. Materials and Methods. A computational-graphic diagram of an oscillatory system with one degree of freedom is proposed. To compose the differential equation of the stripping fingers motion, a method based on the application of the Lagrange equation was used. The oscillations of the system under studying arise from the motion of a point in the system according to a given law. The problem of kinematic excitation is reduced to the problem of force perturbation. This stage of the study was carried out without taking into account the resistance forces. Results. An equation for motion of stripping fingers making vibrational reciprocating movements is obtained. It is proposed to select the elastic element in the design scheme and consider a more general case of the stripping fingers movement. In this case, the movement of the stripping fingers is considered to be difficult. A characteristic feature of the mathematical description is the presence of a generalized force of potential forces. The differential equation of motion of a comb in the presence of an elastic element and the solution of this equation are composed. Discussion and Conclusion. Forced oscillations of a system without resistance, excited by a harmonic disturbing force, are harmonic oscillations with constant amplitude. On close values of the angular frequency of vibration of the drive output link and the root of the ratio of the stiffness coefficient of the elastic element to the stripping fingers mass, the case of resonance takes place. The system parameters must be selected so as to avoid this negative phenomenon.

Introduction. The article describes the approach to solving the problem of complex technical system troubleshooting based on expert knowledge modeling. Intelligent information systems are widely used to solve the problems of diagnostics of multilevel systems including combine harvesters. The formal description of the subject domain knowledge is the framework for building the knowledge base of these systems. The sequence of creating an expert system knowledge base in accordance with production rules is considered. Materials and Methods. The approach is founded on the fault function table. As the object of diagnostics, one of the subsystems of the combine harvester electric equipment “opening the hopper roof flaps” is considered. The basis for constructing a sequence of elementary checks is a system of logical equations describing both the serviceable and possible faulty states of the subsystem. Results. A structural logic model is developed. As a result of analyzing the fault function table, the sets of elementary checks are determined. Four criteria have been used to analyze the weight of these checks. The authors have determined optimal sequence of checks and have developed a decision tree, which allows finding the cause of the malfunction and is the basis for creating the knowledge base of an intelligent information system. A fragment of the knowledge base is given. Discussion and Conclusion. The proposed approach of expert knowledge modelling increases the efficiency of the unit for troubleshooting of the intelligent decision support system. It makes possible to structure the base of expertise and establishing the optimal sequence of elementary checks. This allows determining the optimal sequence of application of the knowledge base production rule that makes it possible to reduce the time of restoring the serviceability of combines.

The use of biomass allows increasing the rate of biogas formation and its specific yield. This work aims to study the kinetics of methanogenesis and determine the optimal duration of digestion and organic load, which are the main indicators of the technological process of biogas formation.

Introduction. When carrying out an energy assessment of agricultural machines and traction tests of tractors, the most important indicator is the value of the tractive effort. The existing methods for determining the tractive effort of tractors imply the use of specialized measuring instruments, such as strain gauges and devices for processing and displaying information. The accuracy of determining the tractive effort is significantly influenced by the physical and mechanical properties of soil. To process the useful signal during the measurement of tractive effort, the data stream of the strain gauge sensor must be subjected to additional digital filtering taking into account the operating conditions of the agricultural unit. Materials and Methods. The functions of changing the tractive effort obtained on the K-744R2 tractor in various gears have been analyzed. An algorithm for digital processing of the signal of a strain gauge force meter based on a median filter has been developed that makes it possible to increase the measurement accuracy. The advantage of the proposed method is the ability to cut off sharp short-term impulse noise and sharp fluctuations in the amplitude of the measured value. Results. A method for determining the amount of tractive effort using median signal processing has been proposed. A device for determining the tractive effort during testing of agricultural tractors and units has been developed. The choice of the main components of the device for determining the magnitude of the tractive effort has been substantiated. As a result of the research, a device for measuring and digital processing of the signal of a force meter based on a microcontroller and specialized software for processing initial data in real time was designed and manufactured. Discussion and Conclusion. The developed method makes it possible to exclude the negative effect of impulse noise arising in the process of measuring the tractive effort of the tractor. The proposed device for measuring the tractive effort of tractors is compatible at the level of the exchange protocol with existing devices, has a high speed of operation in real time, multi-channel operation.

Introduction. Walking machines have been interesting for decades. Modern technologies make it possible to create new designs with digital control. Creating software that allows a walking machine to move independently is a difficult task. Walking machine onboard computer needs to process data from sensors in real time. The article demonstrates design and algorithms used to control the motion of an experimental walking machine. Materials and Methods. To simulate the motion of a walking machine and experimental studies, a stand replicating all the electronic systems of the machine was made. The order of rearrangement of the supports during the motion and the trajectory of the support movement are shown. The design of sensors and their principle of operation are considered. The simulation bench with a description of its electronic components is demonstrated. Results. The optimal parameters of the support motion are determined. A cyclic algorithm for specifying the motion of a support along a trajectory consisting of rectilinear segments is described. The problem of synchronization of motion of a set of supports using multithreaded asynchronous programming adapted for multidimensional processors has been solved. The process of lowering the support to the surface and the response of the cyclic algorithm to changes in the shock and load sensor readings are simulated. Discussion and Conclusion. An algorithm for propulsion with reaction to changes in sensor readings has been developed. The conducted research allowed us to obtain an optimal algorithmic model of motion, to which it is easy to add new reactions of the automatic motion control system based on sensor readings.

Introduction. Inconsistency of the governmental regulatory impact on the socio-economic processes is one of the destructive factors in the increasing asymmetry of regional development. The decisions taken in the sphere of financial market regulation have provoked large-scale structural and quantitative changes in the banking system. The purpose of this study is to assess the impact of the occurred transformation on regional development and to analyze the possibilities of reducing gaps in the volume of banking services provided in Russia’s regions as well as in the level of their socio-economic development. Materials and Methods. The study was conducted on the basis of data from the Central Bank of the Russian Federation and the Federal State Statistics Service. The results of the banking system transformation and the possible impact of the changes on regional development were assessed using the methods of scientific knowledge. When working with the empirical material, the methods of comparison, measurement and evaluation were used. Results. The authors have identified gaps in the level of socio-economic development of Russia’s regions. For a long time, a number of regions have demonstrated limited opportunities for self-development and to fulfil their potential. The acuteness of this problem can be smoothed out by the tools of bank regulation (e.g. lending). After the decrease in the number of regional banks, the banking services market has seen steady signs of oligopoly with a marked decline in price competition. Negative effects of this decline have been increasing at the regional level. Discussion and Conclusion. Regional socio-economic dynamics demonstrate high sensitivity to the reduction in the number of regional banks operating independently as well as to the decline in price competition in the banking services market. It is important that the regional component be taken into account in regulatory practices, including that applicable to the banking sector. Preservation of the regional segment of this system will help to solve a lot of problems at the local level and thus make a significant contribution to overcoming the gaps in the socio-economic development of the regions. The results of this study will be useful to managers of the Central Bank of Russia, as well as to regional and local authorities.

Introduction. The growth of production capacity of livestock enterprises results in increased environmental pressures on bio- and agrocenoses, created by potential energy carriers, one of which is liquid pig manure. Representative parameters, which characterize the energy value, are the total content of nitrogen and its various forms N2 = 3...8 kg/m3; phosphorus oxide P2O5 = 3...6 kg/m3; potassium oxide K2O = 2...4 kg/m3; chemical oxygen consumption to the mass of organic matter 1.2, biochemical 0.42. In parallel, the groups of Escherichia coli, staphylococci, enterococci, aerobic spore-forming microorganisms, various forms of eggs, protozoan cysts and Eimeria oocysts are also the environmental burden. In addition, the physical and rheological properties of liquid manure can have a significant impact on energy efficiency and the way of its further utilization. In terms of agricultural chemistry, the most rational option for its utilization is fractional use in the form of organic fertilizer that is possible only under the conditions of sanitary and epidemiological safety, which is an energy-intensive process depending on various factors. The purpose of this study is to develop a conceptual model of the energy efficiency of operational impacts in obtaining an environmentally safe cycle of utilizing liquid pig manure. Materials and Methods. The object of the study is the operational impacts in obtaining an environmentally safe cycle of utilizing liquid pig manure; the subject is the function of maximizing the energy efficiency of this object under the conditions of sanitary-epidemiological and agrochemical restrictions. There is conducted the analysis of factors and their categorization depending on the type of functional impact. Results. A conceptual model of operational impacts in producing environmentally safe liquid pig manure has been developed, which determines the components of specific energy consumption, the factors affecting them, and the restrictions imposed on them. This model is the source data for the factor analysis and statistical models. Discussion and Conclusion. The practical significance of the work is the identification and categorization of factors depending on the type of functional impact on the operations of the preparatory cycle of ecologically safe utilization of pig manure that can provide initial data for developing specific research methods and statistical models.