A cold standby redundant system with unlimited recovery is considered. Its semi-Markov model with a discrete-continuous phase space of states is constructed with an arbitrary distribution of uptime and recovery of system elements. By the method of successive approximations, the stationary distribution of an embedded Markov chain for a homogeneous case is explicitly found. Using the proposed semi-Markov model and the stationary distribution, formulas are obtained for calculating the stationary reliability characteristics in the homogeneous case, as well as in the heterogeneous case for particular variants of the system under consideration.

A solution to the problem of distributed processing of data flows in complex information technology systems is presented, taking into account limited time sequences of information interaction operations. An iterative algorithm is proposed that builds a graph model of a sequence of operations based on a formalized flow plan for information interaction between computing nodes and transforms it into a diagram of parallel-sequential processes in BPMN system. The key feature of the algorithm is the stage of semantic analysis of operations related through common data flows, which enables correct setting the edge weights (execution time, data volume). The result of the algorithm is an optimal solution that makes it possible to analyze and optimize the processing of information flows, taking into account time constraints on the sequence of operations.

Results of the analysis of experimental data obtained during the study of the tribological (impact-elastic-friction) interaction of the "foot–bearing surface" pair on a standard dynamometric platform and using inertial sensors are presented. It is proposed to model shock pulses in the basis of generalized Hermite functions. One of the advantages of these functions is the locality property, which consists in the fact that their behavior and construction on the shock segment does not depend on the behavior and construction on other segments. Another advantage is to define an even weight function in the form of a Gaussian, i.e. in the form of a certain normal distribution, the parameters of which are used in analyzing the dynamics of bipedal walking, taking into account the longitudinal shock pulses and the moments of transverse shock pulses. The transition to dimensionless variables allows to move to canonical distributions and build models for longitudinal momentum and transverse momentum moment. It is noted that in the canonical version, the Hermite functions satisfy a certain ordinary differential equation, which provides the basis for its use in modeling the dynamics of bipedal walking, taking into account the forces of friction. The results of the study can be used in the design of support elements for ankle orthoses and bipedal robots.

A hardware implementation of the transition matrix, the logical core of the digital angle converter reading system based on a pseudorandom code scale, is presented. The transition matrix is designed to perform a deterministic shift of the read code along the M-sequence corresponding to a fixed angular offset between the reading "windows". The architecture provides for the use of an odd number (in particular, three) spaced "windows", which, in combination with a set of precomputed transition matrices, allows for the implementation of a self-correction mechanism: in case of local damage or contamination of the scale mask, the system restores the correct angular position through mutual transformation and majority comparison of codes. The hardware implementation of the logical core can be performed on programmable logic integrated circuits or programmable logic arrays.

The process of creating an integrated system for high-precision autonomous object grasping by an ABB IRB 140 industrial robot based on RGB-D perception and deep learning methods is presented. A fully functional real-time system for the resource-limited NVIDIA Jetson Nano platform is proposed, combining multi-angle 3D reconstruction of the scene with the exclusion of the central zone of the increased error, adaptive processing of depth data and neural network object detection based on YOLOv3. An algorithm for merging point clouds with weighted averaging in voxel representation and adaptive filtering by manipulator configuration has been developed; an ablation study of the contribution of the central zone mask, multi-angle averaging and adaptive filtering to the final capture accuracy has been conducted. The system achieves a gripping accuracy of 97.96 % with an average cycle time of 4.2 ± 0.8 s for orderly stacking and 94.74 % at 6.8 ± 1.5 s for disordered bales with an average localization error of 2.3 ± 1.5 cm. The reliability of the results is confirmed by statistical analysis and comparison with the methods of 6IMPOSE, PVN3D+ and GG-CNN. The advantage of the proposed approach in terms of capture accuracy and occlusion resistance at a comparable processing time is shown. The results obtained demonstrate the practical applicability of the system for autonomous manipulation in production environments with partial occlusion and variable scene geometry.

The need for new technical solutions for automating the preanalytical stage in clinical laboratories is discussed, in particular, one of the most labor-intensive and potentially dangerous regularly performed operations - decapping (opening) test tubes. The aim of this work is the development of a compact robotic decapping system that provides flexible integration into existing laboratory centers and frees personnel from performing this routine operation. The module developed on the basis of a collaborative robot demonstrates high efficiency: the average time for decapping 200 tubes is 26.5 minutes. The advantages of the module are revealed when assessing the long-term effect, as well as when installing several systems in one laboratory. The module design is resistant to disinfection treatment and is convenient for service adjustment.

The potential of a new device for measuring the adhesion of coating samples when they freeze to soil and a setup for measuring frost heave tangential forces are examined. Results of a study on determining the adhesion strength of various coatings to the soil, depending on its composition and humidity, are presented. The prospects of using cryophobic polymer coatings to reduce the negative impact of the tangential forces of frost heave are discussed. There is an almost complete lack of information on changes in the adhesion of various coatings to materials used for the construction of transmission line supports. It is shown that a decrease in adhesion can lead to peeling of the coating from the substrate and the termination of its protective function. Testing of the developed devices in laboratory conditions demonstrate their operability and promising application.

The research is devoted to the development of a complex mathematical and computer model of a wireless battery charging system for autonomous floating vehicles operating in seawater under rough sea conditions. The relevance is due to the lack of models that take into account the combined effect of the variable relative position of coils and the specifics of a highly conductive medium. A mathematical description of a wireless charging system with a sequential LC topology is given. The system model is based on equivalent substitution schemes and describes electromagnetic processes in a resonant circuit. The analysis of various influencing factors is carried out: changes in the relative position of the transmitting and receiving coils due to rough sea conditions, eddy currents in seawater, parasitic capacitive coupling and nonlinearity of semiconductor elements. To account for the influence of oscillatory motions, a step-by-step approximation method is proposed, which makes it possible to represent the mutual inductance in the form of polynomial dependencies on the parameters of rolling, pitching, and vertical movements while maintaining the calculation accuracy and reducing the time spent on calculations. The mathematical description is applicable to the development of engineering methods for calculating wireless charging systems and algorithms for controlling such systems.

An overview analysis of modern methods of surface roughness control is presented. The methods are systematized according to the criteria of reliability, efficiency and metrological reproducibility. Contradictions between the requirements for accuracy and efficiency of measurements are revealed. The main problems of applying contactless control methods are identified. The expediency of developing non-contact methods for monitoring surface roughness is substantiated. A direction for the development of surface roughness control methods based on a vision system using machine learning methods for processing measurement information is proposed.