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Algorithms for creating optimal configurations of warehouse threedimensional systems consisting of unified transport and warehouse modules are presented in the article. The constructions of these modules, and methods for constructing a warehouse array map are described. Each module has a cubic shape and is connected to each other with any of the 6 faces. In order to save money, some of the modules do not have drives to move the load in the vertical direction. When building a warehouse, a problem to determine the optimal warehouse configuration in terms of cost-performance ratio arises., Comment: 10 pages, 7 figures? for APITECH-V-2023

The development of vibration protection systems that ensure efficiency and safety in the operation of process equipment and pipelines is one of the main tasks of controlling the dynamic state of machines. One of the effective methods of vibration isolation of the equipment of these installations is the use of vibration mounts. Today, both passive and active methods of extinguishing are actively used. The combination of two methods of damping will ensure the stability and adaptability of vibration protection systems to the operating conditions of process equipment. The paper presents and investigates the device of a hybrid vibration support, including a magnetorheological spring, as an element of vibration damping. A distinctive feature of the vibration mount is an extended range of performance and reduced wear rate of the components. An analysis of the damping characteristics of a hybrid vibration support in passive and active modes of operation is presented. A simulation model of the vibration support under consideration has been developed in the MATLAB Simulink simulation environment using the PIB controller. The simulation results indicate the effectiveness of the use of vibration damping systems with a magnetorheological spring in conjunction with various technological equipment., Comment: 8 pages, in Russian language, 6 figures

The application of combinatorial optimization problems to solving the problems of planning processes for industries based on a fund of reconfigurable production resources is considered. The results of their solution by mixed integer programming methods are presented., Comment: 12 pages, in Russian, 4 figures, for MMTT-35

This study is devoted to the search for new scientific and technical solutions in the field of renewable energy sources, in particular biofuels. Biomass is the main fuel for green energy, accounting for two thirds of the energy produced from renewable sources. The further development of the industry depends on the improvement of the equipment and technologies used in it. On the example of a cleaning apparatus, a new technology for prototyping its parts using a robotic module is shown and tested. The use of plastics as parts of technological equipment is a modern trend and may be due to the low adhesion strength of various substances to the surface of these parts due to poor wettability and low values of the surface energy of these materials compared to metals., Comment: 10 pages, in Russian, 6 figures

Elements of experimental equipment for the production of biofuel components must meet high reliability and safety requirements. At the same time, in the course of research on the subject of creating equipment for the production of biofuels, a variable range of equipment is regularly proposed and should be checked. The manufacture of elements of such equipment by traditional methods is expensive and inefficient, time-consuming, which negatively affects the speed of scientific research. To this end, it is proposed to develop a robotic 3D printing complex that provides maximum flexibility in creating mock-ups and test samples of equipment for the production of biofuel components. The article discusses the experience of successfully creating equipment elements for the production of fuels using 3d printing. Next, the choice of a robotization scheme for a 3D printing installation is described and the choice of printing technology is substantiated. The article also presents the results of calculating the parameters of the 3v-printer robot and the results of calculating the similarity parameters for the implementation and evaluation of control algorithms. The results of a numerical experiment for calculating the strength characteristics of equipment elements manufactured using the selected 3d printing technology are presented., Comment: 14 pages, in Russian, 5 figures

The article describes the application of the Hough transform to a honeycomb block image. The problem of cutting a mold from a honeycomb block is described. A number of image transformations are considered to increase the efficiency of the Hough algorithm. A method for obtaining a binary image using a simple threshold, a method for obtaining a binary image using Otsu binarization, and the Canny Edge Detection algorithm are considered. The method of binary skeleton (skeletonization) is considered, in which the skeleton is obtained using 2 main morphological operations: Dilation and Erosion. As a result of a number of experiments, the optimal sequence of processing the original image was revealed, which allows obtaining the coordinates of the maximum number of faces. This result allows one to choose the optimal places for cutting a honeycomb block, which will improve the quality of the resulting shapes., Comment: 10 pages, 13 figures, APITECH-II - 2020

The article considers solving the problem of precision cutting of honeycomb blocks. The urgency of using arbitrary shapes application cutting from honey-comb blocks made of modern composite materials is substantiated. The problem is to obtain a cut of the given shape from honeycomb blocks. The complexity of this problem is in the irregular pattern of honeycomb blocks and the presence of double edges, which forces an operator to scan each block before cutting. It is necessary to take into account such restrictions as the place and angle of the cut and size of the knife, its angle when cutting and the geometry of cells. For this problem solving, a robotic complex has been developed. It includes a device for scanning the geometry of a honeycomb block, software for cutting automation and a cutting device itself. The software takes into account all restrictions on the choice of the location and angle of the operating mechanism. It helps to obtain the highest quality cut and a cut shape with the best strength characteristics. An actu-ating device has been developed and implemented for both scanning and cutting of honeycomb blocks directly. The necessary tests were carried out on real alu-minum honeycomb blocks. Some technical solutions are used in the cutting de-vice to improve the quality of cutting honeycomb blocks. The tests have shown the effectiveness of the proposed complex. Robotic planar cutting made it possi-ble to obtain precise cutting with a high degree of repeatability., Comment: 10 pages, for ICIRA 2020