The problem of modeling the dynamics and control of a quadrotor using a cascade control system based on a proportional‐integral‐derivative controller is considered. The main subject of the study is the development and simulation of a system that ensures the stable positioning of the quadrotor in the presence of external disturbances and limitations in the dynamic characteristics of the vehicle. The object of the research is the quadrotor as an unmanned aerial vehicle, while the subject is the cascade control system comprising an outer controller responsible for correcting position errors and an inner controller that maintains the stability of the vehicle’s orientation. The aim of the study is to create a mathematical model of the quadrotor’s dynamics and to implement a cascade control algorithm capable of converting position errors into control commands for adjusting the tilt angles. The work employs methods of mathematical modeling, discrete integration of the equations of motion, and cascade control algorithms implemented in MATLAB software. The simulation results demonstrate that the proposed control system significantly reduces the discrepancy between the current position of the vehicle and the specified target point, ensuring flight stability. However, residual errors have been identified, which are associated with the approximated models of motor dynamics and limitations on the maximum tilt angle, thereby necessitating further optimization of the control algorithms. The main conclusion of the study is that the developed cascade control system represents an effective solution for improving the positioning accuracy of the quadrotor and opens prospects for further research in the control of unmanned aerial vehicles

Keywords: quadrocopter, flight dynamics, mathematical modelling, cascade control, position controller, orientation controller, control optimisation

The article provides a brief description of the Berezovskaya GRES thermal power plant, a detailed description of the design object, and an analysis of the existing automation systems. Based on the analysis, it is concluded that the hazardous production facility requires technical re-equipment, which involves the modernization of the technical devices used at the hazardous production facility. The necessary equipment has been selected for the designed process control system. An architectural solution has been created for the system, ensuring its efficient functioning and high level of reliability. A reliability analysis has been conducted, confirming compliance with regulatory requirements and sufficient uptime.

Keywords: remote monitoring and control, fuel oil management, PLC programming, import substitution, operator's workstation

An experimental study of the ultimate deformations of a three-component composite of FeNiCu metal powders during rolling with different reductions is conducted, which allows us to estimate the parameters of the material's plasticity, and thereby exclude various manifestations of destruction (cracks, ruptures, delamination, etc.). Depending on the magnitude of the deformation and the proportional content of individual components, the relative density of the composite is determined. The results will be in demand in the development of technological processes for pressure treatment of composite materials, in particular, the production of powder rolled products of a given density

Keywords: composite, pseudoalloy, pressure treatment, rolling, plasticity, compression, destruction, delamination, relative density of composite

The article considers the problem of dynamic control of a 3-connected manipulator designed for trajectory following in conditions of external dynamic disturbances. To ensure the stability of the system, an adaptive PID controller based on the methods of kinematics and dynamics of a multi-link system is proposed. The analytical conclusions of direct kinematics, the calculation of the Jacobian matrix, and the perturbation compensation algorithm are described in detail. The experimental part is presented in the form of MATLAB modeling, the results of which are illustrated by graphs of motion, error convergence, dependence of link angles and control moments, as well as comparative tables of system characteristics at various levels of disturbances.

Keywords: robotics, manipulator, adaptive PID controller, dynamic control, direct kinematics, Jacobian matrix, perturbation compensation

In this article, an analysis of the main methods for solving the linear cutting problem (LCP) with the criterion of minimizing the number of knife rearrangements is presented. The linear cutting problem in its general form represents an optimization problem that involves placing given types of material (rolls) in such a way as to minimize waste and/or maximize the use of raw materials, taking into account constraints on the number of knives, the width of the master roll, and the required orders. This article discusses a specific case of the problem with an additional condition for minimizing knives' changes and the following approaches for its solution: the exhaustive search method, which ensures finding a global optimal solution but can be extremely inefficient for problems with a large number of orders, as well as random search based on genetic and evolutionary algorithms that model natural selection processes to find good solutions. Pseudocode is provided for various methods of solving the LCP. A comparison is made in terms of algorithmic complexity, controllability of execution time, and accuracy. The random search based on genetic and evolutionary algorithms proved to be more suited for solving the LCP with the minimization of waste and knife rearrangements.

Keywords: paper production planning, linear cutting, exhaustive search, genetic algorithm, waste minimization, knife permutation minimization

The development, implementation and continuous improvement of diagnostic systems for Russian Railways (RZD) infrastructure facilities are defined as conditions for ensuring reliable and safe operation. The current concept regulates the stages and directions of development of diagnostic systems for the period up to 2030, with a development perspective up to 2035. It is planned to create integrated, stationary and mobile monitoring and diagnostic systems.
The most optimal, from the point of view of the effectiveness of the diagnostic system, is to provide the ability to monitor diagnostic parameters with a given accuracy, automatically, without disabling equipment, in real time. This approach significantly simplifies operational control procedures. There is no need to change the condition of the equipment and power supply circuits. The number of personnel involved in carrying out diagnostic procedures is decreasing, as well as the influence of the human factor on the results is decreasing. The article discusses ways to automate the isolation control of Russian Railways infrastructure facilities.

Keywords: diagnostic system, infrastructure, operational control, automation

Steel hoisting ropes play an important role in metallurgical equipment, ensuring reliability and efficiency of lifting operations. One of the key features of their operation is the high level of contamination typical of metallurgical operations. Metallurgical processes are often accompanied by dust, metal chips and other abrasive particles that can significantly degrade ropes, causing wear and corrosion. To maintain the efficient operation of equipment it is necessary to monitor the condition of hoisting ropes in real time, which makes the task of improving automatic systems for monitoring the condition of ropes urgent. The paper reviews the methods of optical control of defects in hoisting steel ropes, the advantages and limitations of different approaches are considered. The aim of the work is to justify the effectiveness of the authors' developed method of analyzing rope defect images using neural networks in relation to the method based on the discrete Fourier transform. It is revealed that one of the most promising in terms of technical and economic efficiency of inspection methods is the application of vision system with image processing based on convolutional neural network technology, which allows to effectively detect defects in complex and changing operating conditions, such as metallurgical and mining production, where the background of the image may be non-uniform, and the distance between the camera and the rope varies.

Keywords: lifting ropes, vision systems, optical control methods, fast Fourier transform, hidden Markov models, convolutional neural networks

This paper addresses the problem of improving the accuracy and objectivity of meat quality assessment. An approach to automated product evaluation is presented, based on the integration of a computer vision system (CVS) and deep learning methods. A convolutional neural network VGG-16, pre-trained on the large-scale ImageNet dataset, was employed to effectively implement transfer learning. The processes of data preprocessing and the architecture of the applied neural network are described. The results of training and validation demonstrate high classification accuracy of meat samples by the criterion “fresh/spoiled.” The potential of the proposed approach for automating quality control in the meat industry and reducing the influence of subjective factors is emphasized.

Keywords: computer vision, deep learning, convolutional neural network, transfer learning, meat quality assessment, process automation, image classification, automated quality control

Ensuring high quality indicators of paper products manufactured on modern wide-format paper machines requires the use of systems for precise control of the main parameters: weight of 1 m2, humidity and thickness. The technological complexity of this task is due to the need for simultaneous control of numerous actuators across the width of the paper web. The presented study demonstrates an innovative system for controlling the main parameters of paper quality in the transverse direction, built using neural network technologies. The developed solution ensures high accuracy of parameter control in comparison with traditional control methods, which is confirmed by the results of experimental testing in production conditions.

Keywords: pulp and paper production, paper machine, web width control, neural controller, interconnected control, distributed parameter control object, actuator, control system, paper web

Modern automated process control systems include software complexes for monitoring, dispatching, data processing, and controlling industrial equipment. The correct operation of these systems depends on the predictable and stable deployment of software components, which requires a deterministic approach to configuration management. This paper proposes a mathematical model for software configuration management in APCS, based on difference equations of discrete systems. Numerical modeling was conducted in the Octave environment, confirming the correctness of the proposed model and allowing for the analysis of the impact of control parameters on process dynamics. The obtained results can be used to optimize strategies for automated deployment of software complexes in industrial systems.

Keywords: automated control, software complexes, discrete systems, difference equations, stability, dispatching, monitoring

The article offers examples of simulated processes for creating a digital twin, a monitoring process, and a cargo transportation process. A theory is proposed for calculating a mathematical model based on Petri nets. Models for placing an order and its delivery are proposed, as well as a model of information flows using the example of developing models for the processes of transporting perishable products in a refrigerated container.

Keywords: Business process, modeling, BPMN, IDEF1, DFD, Petri nets, mathematical model, intelligent 3D model

The paper presents the results of calculating reliability indicators and analyzing the fault tolerance of the subsystem for monitoring and controlling steam pressure in the steam curtain of a tubular furnace of a diesel fuel hydrotreating technological unit. The effectiveness of reserving critical elements to improve functional safety is substantiated.

Keywords: reliability, fault tolerance, steam curtain, tubular furnace, hydrotreating, diesel fuel, redundancy, functional safety

The article is devoted to the development of application software for automated colorization of images in palettes of traditional folk crafts. The process of identifying palettes of folk paintings, the algorithm for transferring color solutions to the author's images and the presentation of this algorithm in the code of a computer program in the Python language are considered. The scheme of interaction of the program with the user is explained. The options for the practical application of the created application software in the work of artists, when creating design projects, for preserving cultural heritage and passing it on to new generations are described. The results of the study demonstrate the effectiveness of the automated approach for coloring images, reducing time costs and simplifying the work of designers. The article may be of interest to specialists in the field of computer graphics, designers and researchers of digital technologies in the field of image processing.

Keywords: application software, digital technologies, colorization, color palettes, traditional folk crafts, colorization algorithms, graphic design, python programming, image processing

The majority of electrified railways, as well as the routes of external power supply overhead lines, automatic block lines and longitudinal power supply lines, are located in areas with a sharply continental climate, where climatic conditions contribute to the possibility of ice formation. The article examines the effectiveness of anti-icing measures on power supply devices of electrified railways. The results of calculation of the anti-icing scheme during preventive heating of the contact network taking into account its homogeneity by equalizing current are presented. The success of application of preventive heating for the studied section is analyzed.

Keywords: AC traction network, ice control, ice melting, preventive heating, operating voltage, equivalent circuit, selection of parameters

The paper presents an intelligent control system for the indirect assessment of fruit damage volume based on the use of a computer vision system and a convolutional neural network (CNN). An algorithm has been developed that analyzes the surface defect area to predict the volume of damaged pulp. The proposed approach includes stages of image acquisition, preprocessing, defect segmentation using a CNN, regression-based damage volume estimation, and decision-making based on fuzzy logic. A mathematical model is described that links the defect area to the damage volume, taking into account the internal spread of rot within the fruit. The presented system enables prompt and objective quality control of fruits, contributing to the optimization of sorting, storage, and processing operations in the food industry and the agro-industrial sector.

Keywords: intelligent control system, technical vision, sorting automation, convolutional neural network, image segmentation, fruit damage assessment, fuzzy logic

The article discusses options for solving the problem of slowing down the operating cycle of programmable logic controllers that occurs when implementing complex algorithms. For most modern programmable logic controllers, the operating cycle directly depends on the volume of the user program. The program is executed pseudo-parallel, so the complexity of the algorithm affects the slowdown of the cycle indirectly, through an increase in the code volume. The growth of the program leads to a slowdown in the controller's response to changes in the state of the inputs. In some cases, controller developers provide programmers with options that allow them to disrupt the natural order of the operating cycle, thereby reducing the response time. The advantages and disadvantages of such methods are discussed in detail in this article. As an alternative way to reduce the controller's response time, the possibility of transferring the execution of a part of the algorithm to the operator's touch panel is considered. Modern touch panels, in addition to their main task - implementing the human-machine interface, have many additional functions, including the ability to use macros. The main functionality of macros is given and the possibility of exchanging data between the controller and the panel is demonstrated. This feature is a prerequisite for delegating some of the functions of the panel controller. The limitations and risks that arise when using this approach are discussed in detail, and situations in which it is preferable to use this method are identified.

Keywords: programmable logic controller, operator touch panel, controller operation cycle, distribution of computing resources, macros

The article provides an overview of existing technical solutions, considered from the point of view of two approaches: complete replacement of the electrolysis plant with a modern analog; replacement of only the measuring part of the system. Based on the results of a review of existing technical solutions, it was concluded that the purchase and replacement of an entire electrolysis plant or a software measuring part is economically unprofitable, and Berezovskaya GRES can implement its own SEU-20 plant management system using modern Russian-made automation software, but its own development will bring significant economic benefits. due to the lower cost compared to foreign counterparts. Для проектируемой системы управления технологическим процессом выбрано необходимое оборудование. Рассчитано время реакции системы при аварийной ситуации. Разработаны электрическая структурная и функциональная схемы автоматизации электролизной установки СЭУ-20. Разработан интерфейс АРМ оператора и произведено моделирование разработанной программы с отработкой различных ситуаций.

Keywords: electrolysis plant, import substitution, remote control, remote control, PLC programming, APM operator

The article considers a promising technology for non-destructive testing of the dispersed composition of phosphogypsum based on acoustic analysis methods. An analysis of the capabilities of the spectral-timbre approach for assessing the fractional structure of bulk material has been conducted. A relationship between the acoustic response of a particle flow and its dispersibility has been established. The feasibility of integrating the method into technological processes for the processing of technogenic raw materials has been justified. The high efficiency of the proposed approach in automated lines within the construction industry has been demonstrated.

Keywords: phosphogypsum, acoustic methods, spectral analysis, dispersity, Fourier analysis, building materials

The paper considers the solution of an urgent scientific and technical problem of developing a tilt angle sensor designed for automated position measurement of optical and optoelectronic systems. The principle of operation of the tilt angle sensor or inclinometer is to measure the direction of acceleration of gravity in the coordinate system associated with the target object, which allows calculating the angles of deviation of the vertical axis of the object from the ideal position. Capacitive sensors measure the angle of inclination by monitoring changes in capacitance due to external influences and often have a fairly simple design. In this paper, we consider a sensor design that uses a metal ball moving in a dielectric tube with electrodes attached to it. To investigate the possibilities of optimizing the device, a mock-up was developed on which the change in capacitance was analyzed depending on the size of the ball, the diameter of the tube and the shape of the electrodes. An important goal of this study was to determine the optimal diameter of the ball inside the dielectric tube to obtain the most noticeable changes in capacitance. The best results were obtained using a metal ball with a diameter slightly smaller than that of a dielectric tube. To measure the capacitance the "capacity–frequency" conversion can be used, followed by measuring the latter using a microcontroller. The resulting capacitance values are very small, which leads to a significant impact of any connecting wires and requires reducing the distance between the primary converter and the signal processing circuit, which can be achieved using micromechanics and microelectromechanics technologies and integrating the entire sensor design into one miniature housing. At the same time, with a decrease in the size of the elements of the primary converter, the value of the detected capacitance will obviously decrease, which will significantly complicate its conversion into an electrical signal.

Keywords: tilt angle, electronic sensor, inclinometer, position control, capacity change, primary converter, auto generator, miniaturization

The transition from scheduled maintenance and repair of equipment to maintenance based on its actual technical state requires the use of new methods of data analysis based on machine learning. Modern data collection systems such as robotic unmanned complexes allow generating large volumes of graphic data in various spectra. The increase in data volume leads to the task of automating their processing and analysis to identify defects in high-voltage equipment. This article analyzes the features of using computer vision algorithms for images of high-voltage equipment of power plants and substations in the infrared spectrum and presents a method for their analysis, which can be used to create intelligent decision support systems in the field of technical diagnostics of equipment. The proposed method uses both deterministic algorithms and machine learning. Classical computer vision algorithms are applied for preliminary data processing in order to highlight significant features, and models based on unsupervised machine learning are applied to recognize graphic images of equipment in a feature space optimized for information space. Image segmentation using a spatial clustering algorithm based on the density distribution of values ​​taking into account outliers allows detecting and grouping image fragments with statistically close distributions of line orientations. Such fragments characterize certain structural elements of the equipment. The article describes an algorithm that implements the proposed method using the example of solving the problem of detecting defects in current transformers, and presents a visualization of its intermediate steps.

Keywords: diversification of management, production diversification, financial and economic purposes of a diversification, technological purposes of ensuring flexibility of production

An optimization model has been developed for the minimum required number of employees carrying out transport security measures included in transport security units, taking into account the algorithm for distributing employees, including various groups according to individual functions performed at different security levels, as well as the likelihood of various threats to transport security.

Keywords: transport strategy, digitalization of transport security, cost optimization, transport security units, requirements for ensuring transport security

The paper discusses the use of the M/M/n mass service model to analyze the performance of cloud storage systems. Simulations are performed to identify the impact of system parameters on average latency, blocking probability, and throughput. The results demonstrate how optimizing the number of servers and service intensity can improve system performance and minimize latency. The relevance of the study is due to the need to improve the performance of cloud solutions in the context of growing data volumes and increasing load on storage systems.

Keywords: cloud storage, mass service theory, M/M/n model, Python, modeling, performance analysis

The article considers a robotic control system for implementing the S-shaped movement of a snake robot, and evaluates the specifics of its use on a physical prototype. Since the snake robot is a complex composite structure, the assessment and assignment of a certain type of movement becomes one of the primary tasks in the development of this control system. The simulation model of the snake robot is implemented using mathematical modeling in the Russian software REPEAT. As a result of the simulation, it was found that the developed control system ensures the operability of the robotic system, ensures the accuracy of movement and adaptability to changing external conditions.

Keywords: mathematical modeling, simulation model, REPEAT, snake robot, wave motion control system, torque variation

within the framework of the conducted research, the task of controlling a robot of a parallel structure was considered. This paper presents a model of a 3-RPR type flat parallel robot in the Matlab package, developed for conducting computational experiments. Implementation of two types motion trajectories have been simulated in order to determine the optimal structure of the position regulators of the drive joint used in the robot control system. Six structure of regulators were compared: three classical ones: PD, PID, PDD and three of their fractional-degree analogues: FOPD, FOPID, FOPDD. The FOMCON tool was used to model fractional-degree regulators. The best results for type 3-PPR robot were shown by a control system with a FOPID regulator, which indicates the expediency of using fractional-degree regulators to control parallel robots.

Keywords: parallel robot, inverse kinematics problem, 3-RPR robot, computational experiment, working out the trajectory of movement, control system accuracy, fractional-degree regulator, parametric optimization of the regulator, comparative modeling, FOMCON tool

Digital twin technology shows significant potential in transforming various industries by enabling the modeling, analysis, and optimization of complex systems in real time. The integration of digital twin with the Industrial Internet of Things has opened up new opportunities for innovation and efficiency. In this regard, this article describes the methods and technologies that can be used to develop digital twins in Industrial Internet of Things applications and systems. Special attention is paid to such methods as: multiphysics and multiscale modeling, system life cycle method, data-driven modeling. Some technologies and architectures that can be used at three levels of creating a digital twin for Industrial Internet of Things systems are also described.

Keywords: digital twin, model, system, data, architecture, Industrial Internet of Things, communication, network, analysis, sensors