#5 2025

CONTENTS №5

Discussing a Topic…

Numerical control and robotic systems

Rezchikov A.F., Bolshakov A.A., Petrov D.Yu., Yakovlev D.D.  An algorithm for optimizing the structure of robotic assembly systems

The paper offers an algorithm for the structural optimization of robotic assembly systems (RAS). The algorithm selects the parameters of the automatic production, which ensure the best KPI values. The formalized description of the parameters, technological, static, and dynamic RAS characteristics is presented. RAS structure optimization algorithm allows for both the requirements to the articles and the constraints associated with the production process specificity. Bellman dynamic programming technique is applied for generating specific RAS structures. A set of criteria and constraints enabling the estimation of the efficiency of RAS structures developed. Simulation modeling is offered for analyzing the dynamic performance of RAS. An example of determining suboptimal RAS structures for the automatic assembly of fire safety devices is included.

Keywords: robotic assembly system, optimization, dynamic programming, Bellman dynamic programming, production efficiency.

Ahmad Z., Martinov G.M.  Developing a servo drive control system based on CAN bus and Raspberry Pi small single-board computer

The study aims at the development of an external closed-loop control system for step servo motors of CNC systems. The need for research is stipulated by the requirement of fast command communication for improving servo drive operation algorithm. A structural model of the control system is offered, which employs Raspberry Pi small single-board computer as a motion controller. The application of CAN protocol enables the interaction with the embedded control system thus ensuring data acquisition and modification regardless of standard utilities of servo drive vendors.

Keywords: step motor, CAN bus, motion controller, servo motor, microcomputer, CNC system

Akimov A.A., Grigoriev S.N.  Data aggregation method for analyzing the performance of production and logistics system of a mechanical engineering enterprise

The problem of data acquisition and processing from production and logistics systems (PLS) of mechanical engineering enterprises is set. A generalized data aggregation method is offered. The method ensures the automation of heterogeneous data acquisition and aggregation. It saves time and reduces the probability of errors caused by manual data acquisition and processing. The offers a software platform for PLS data aggregation based on the method proposed.

Keywords: mechanical engineering enterprise, production and logistics system, data aggregation, information model, integration platform.

Kobrunov I.A.  Resolving the collisions of coinciding identifiers on CAN bus with the help of finite automata

The development of a control system from several modules communicating through CAN protocols poses challenges in the integration of third-party devices because of the specific implementation of the latter’s applied communication protocols. One of such challenges is the use of the same identifiers for executing the interaction both from the side of the integrating device and from the side of the slave one with the ensuing collision of CAN frames and the malfunction of the whole of control system. To surmount the challenge, finite automata can be used, which help with controlling the flow of CAN bus messages thus reducing the probability of collisions.

Keywords: CAN protocol, identifier collision, network interaction, control system, stand-alone transportation module.

Bogdanov V.M., Timofeev A.N.  The effect of deposition characteristics on the powder layer shift in additive production

The most promising researches in the field of additive technologies address printing quality improvement and cost reduction. Higher deposition speed may compromise the powder layer quality with the ensuing decrease of the final component part quality. For investigating the effect of roller characteristics on powder layer deposition, computer simulation was undertaken for three deposition types: rotating roller, non-rotating roller, and rotating roller with additional powder supply.

Keywords: additive technologies, industrial production, leveling, deposition, powder, shift, roller diameter, modeling.

Isakov K.S., Semenova V.A.  The effect of printing parameters on strength characteristics of complex small-size PETG articles

The paper studies the influence of FDM printing parameters on the mechanical properties of complex shape articles such as PETG gears. The key parameters examined are the number of external perimeters (outline) and the infill percentage. It is proven experimentally that the outline increase enables the reduction of infill percentage without significant strength loss. Study results may be used for optimizing 3D printing technology for reducing material consumption and printing time.

Keywords: FDM printing, tension, compression, additive technologies, number of perimeters, filling.

Shtakin D.V., Snegirev O.Yu., Torgashov A.Yu.  Determining controller weight matrices based on predictive model with reference to control targets under uncertain process parameters

Optimal controller parameters are calculated based on a predictive model under parametric uncertainty of control plant, unmeasurable disturbances, and the requirements on control target priorities. An algorithm for calculating optimal regulatory controller settings is offered, which is applicable to both the synthesized and the existing model predictive control systems without the need for their restructuring. The algorithm includes a criterion for determining optimal controller parameters, which includes the control plant’s parametric uncertainty, the deviations of output variables outside the specified control range, and the duration of variable stay beyond the specified limit. Algorithm effectiveness is demonstrated with the case study of a complex distillation column of a hydrocracking unit. The algorithm ensures the minimum admissible initial boiling point of the kerosene stream from the bottom of the kerosene stripping with the thermosiphon reboiler.

Keywords: predictive-model-based regulatory controller, optimal controller settings, parametric uncertainty of control plant, complex distillation column, hydrocracking unit.

Grigoriev M.S., Maslova K.A.  HMI organization based on the structural model of A-plant operator activity

With the case study of Leningrad A-Plant-2, the paper describes general approaches to the control and monitoring of an A-plant and the key aspects of the implementation of the computerized HMI at operator workstations. Key methods and scenarios of operator interaction with the HMI in various operation modes are examined. Development examples of information field combinations with regard to information representation and control organization are presented including a situation of a partial failure of power unit’s upper level equipment.

Keywords: workstation, nuclear power unit’s control panel, video frame, information field, activity model, control scenario, human machine interface.

Arsetmawi Q.K., Ahmed T.R., Alwtaifi T.A., Avsievich A.V.  Malicious software detection in a virtual reality ecosystem using Random Forest models

Virtual reality platforms such as Moodle are actively used in education for developing immersive training environments. However, their application is associated with vulnerabilities related with the processing of complex executable files, and this decreases the efficiency of traditional signature antivirus software. The paper describes the developed Smart Shield framework based on Random Forest classifier and aimed at the protection of Moodle educational VR environments.

Keywords: malicious software, virtual reality, random forest, machine learning, cybersecurity, learning platforms, artificial intelligence.

Mitin G.V., Panov A.V.  Application of information patterns in production data analysis

The paper defines the information pattern concept and describes the role of patterns in data analysis. It examines information pattern types, such as simple and complex, strongly and weakly correlated. Information pattern applications are listed, weakly correlated patterns are classified depending on the task context. Key challenges faced during the search of information patterns are discussed. Possible applications at PCB production are outlined.

Keywords: information technologies, data analysis, machine learning, information patterns, weakly correlated information pattern.

Vivchar’ R.M., Guryev Yu.M., Tashkinov A.Yu., Smirnov A.I., Cherkasov S.A., Kirichek R.V.  Conceptual proactive control model for continuous production

The paper offers a conceptual proactive control model for continuous production with the example of Apatit JSC. Production situation is a key element of proactive control. The paper describes key phases of its analysis including the description and analysis of the status quo, and the development of proactive solutions on their basis. The methods to be used for scientific analysis of production situation are listed.

Keywords: production situation, automated production control system, conceptual model, proactive control, simulation modeling.