Robotics, Machinery and Engineering Technology for Precision Agriculture: Proceedings of XIV International Scientific Conference “INTERAGROMASH 2021” (Smart Innovation, Systems and Technologies, 247) 9811638438, 9789811638435
This book is a collection of papers presented at XIV International Scientific Conference “INTERAGROMASH 2021”, held at D
1,811 85 18MB
English Pages 702 [670] Year 2021
Preface
Contents
About the Editors
Strengthening of Welded Joints of Load-Bearing Structures of Robotic Systems with Ball-Rod Hardening
1 Introduction
2 Materials and Methods
3 Results and Discussion
4 Conclusion
References
Quality Control of Frame Structures of Robotic Systems by Express Nondestructive Methods
1 Introduction
2 Materials and Methods
3 Results and Discussion
4 Conclusion
References
Strategy of Service and Maintainability of Machines
1 Introduction
2 Materials and Discussion
3 Conclusions
References
Automatic Monitoring of Smart Greenhouse Parameters and Detection of Plant Diseases by Neural Networks
1 Introduction
2 Review Literature and Associated Work
3 Materials and Methods
3.1 System Design
3.2 Disease Detection System
4 Results and Discussion
4.1 Smart Greenhouse Analysis on the Internet of Things
4.2 Analysis of Leaf Disease Detection Efficiency
5 Conclusion
References
Increasing Biocompatibility of Endoprostheses by Modeling the Impregnation Process
1 Introduction
2 Algorithm for Evaluating the Porosity of the Coating
3 Conclusion
References
Use of Neural Networks and Autopilot for Quick and Accurate Grain Discharge on the Elevator
1 Introduction
2 Recognition of a Free Port for Unloading Grain
3 Autopilot for Automatic Vehicle Parking
4 Conclusions
References
Operation of Membrane Apparatus with Polarization Layer Removal Using Artificial Neural Networks
1 Introduction
2 Identification of the Neural Network Architecture
3 Defining the Neural Network Accuracy
4 Technological Parameters Optimization
5 Conclusion
References
Methodology for Neural Networks Training at Analyzing the Context of Event at Emotions Recognizing
1 Introduction
2 Mathematical Model and Solution Method
3 Results of Research
4 Discussion and Conclusions
References
Tensometry of Interfaces of the Working Body of Technology Machines for Reclamation Works
1 Introduction
2 Digital Technology Triboanalysis of Machine Systems
3 Simulation Model of Loading Matching Elements of the Machine’s Working Body
4 Results and Discussions
5 Conclusions
References
Model of Sealing Joint with Incising Ring
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusions
References
Optimization of Hopper System of Pump Unit on Automotive Chassis
1 Introduction
2 Materials and Methods
3 Results
4 Discussion of Results
5 Conclusions
References
Optimization of Parameters of Parts of Brake Device of Piston of Circular
1 Introduction
2 Materials and Methods
3 Results
4 Discussion of Results
5 Conclusions
References
Improving the Processing of Thin Wall Sleeves
1 Introduction
2 Materials and Methods
3 Problem Statement
4 Results
5 Discussion
6 Conclusion
References
Study of the Aeration Processes of Filtering Elements for Wastewater Treatment of Industrial Enterprises
References
Layout Features of Drives with Modified Adaptive Friction Clutch
1 Introduction
2 Research Method
3 Problem Solution
4 Discussion and Results
5 Conclusions
References
Analyzing the Methods Identification Shaft Position in Active Robotic Assembly of “Shaft-Sleeve” Joints with Chamfer Contact
1 Introduction
2 Analysis of Forces in Contact with Chamfers
3 Experimental Setup
4 Conclusion
References
Design of High Precision Machining Part Processes in Free Abrasives
1 Introduction
2 Materials and Methods
3 Results
4 Conclusion
References
Exploring Cutting Forces While Radial Shaped Turning
1 Introduction
2 Analysis of the Problem and Statement of the Research Task
3 Organization of the Experiment
4 Experimental Data Processing
5 The Discussion of the Results
References
Technological Support of Machine Element Corrosion Resistance
1 Introduction
2 Materials and Methods
3 Results
4 Conclusion
References
Manufacturing a Combined Electrode-Instrument by the Method of Fast Prototyping
1 Introduction
2 Problem Statement
3 Research Methods, Results
4 Conclusions
References
Technology of Hardening Plowshares by Electrocontact Welding Using Waste from Tool Production
1 Introduction
2 Materials and Methods
3 Investigation of the Properties of Coatings Obtained by Electric Contact Welding of Used Hacksaw Blades Made of Steel 11R3AM3F2 and Development of Technology for Strengthening the Plowshare
4 Conclusion
References
Impact of Fe3O4 Nanoparticles on Viscous and Tribotechnical Properties of Oleic Acid
1 Introduction
2 Relevance and States of the Problem
3 Statement of a Problem
4 Experimental Part
5 Discussion and Results
6 Findings
References
Study of the Influence of the Grinding Wheel Composition Components on Its Performance During ID Grinding
1 Introduction
2 Relevance and Analysis of the State of the Problem
3 Problem Statement and Research Methods
4 Results and Discussion
5 Conclusions
References
Improvement of Design of Device for Production of Cycloidal Pinion Gear
1 Introduction
2 Materials and Methods
3 Results
4 Discussion of Results
5 Conclusions
References
Universal Device for Fixation of Tooling and Articles to Tables of Equipment in Machine Building
1 Introduction
2 Materials and Methods
3 Results
4 Discussion of Results
5 Conclusions
References
Study of the Preliminary Elastic Deformation State of Workpieces Made of Non-ferrous Alloys During Drilling
1 Introduction
2 Problem Definition
3 Research Methods, Results
4 Conclusions
References
Influence of the Geometry of a Similars Specimen on the Parameters of the Dynamics of the Thermal Field in Friction Stir Welding
1 Introduction
2 Mathematical Model of Temperature Dynamics of FSW
3 Comparison of Calculated and Experimental Curves of Temperature Dynamics
4 Conclusions
References
Development and Mathematical Modeling of the AC Sensor for Refinery Automation Systems
1 Introduction
2 Modeling of the Normal Magnetization Curve of AC Magnetodielectric Measuring Transducer
3 Modeling of Eclectic Equivalent Circuit of AC Magnetodielectric Measuring Transducer
4 Quantitative Assessment of the Proposed Current Transducer
5 Conclusions
References
Discrete-Event Intersection Operation Model (Yasnyy Proyezd-Dezhnev street, Moscow)
1 Introduction
2 Object Description
2.1 Characteristics of the Actual Operation of the Intersection
3 Discrete-Event Model of the Intersection
3.1 Optimization of the Intersection Operation
4 Results of the Optimization Experiment
5 Conclusions
References
MultiSPAS: Multi-Descriptor Physical Approaches to Computerized Plant Ecology
1 The Need for Multiparametric Chemometric Reactivity Analysis and Automated Biogeographic Systematics
1.1 The Problem of Objective Multidescriptor Control of the Environment
1.2 The Problem of Separate Analysis of the Additively Acting Factors with Different Weighting Coefficients
1.3 The Problem of Multi-Channel Measurements and Cross-Correlated Big Data Analysis
2 Key Parameters of SPAS, MSPAS Models, and Their Advanced Differentiated Versions
2.1 S-parameters of the Advanced SPAS-Like Approaches
2.2 A-parameters of Complicated SPAS-Like Approaches
2.3 Solar Irradiance Descriptor Group
2.4 Air-Chemical Descriptor Group (Indirect High Energy Chemistry Descriptors)
2.5 Scalar and Vector Predictors
3 Conclusion
References
Influence of the Problem of Safety Control of Heuristic Algorithms on the Development of Robotics
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusions
References
New Equipment for Aromatherapy and Related Mobile App: A Tool to Support Small Peasant Farms in Kazakhstan in Crisis
1 Introduction
2 Materials and Methods
3 System Construction
4 Radio Electronic Scheme and Concomitant Mobile App
5 Results of Experiments
6 Conclusion
References
Security Concept of Digital Twins of Industrial Fuel and Energy Complex Objects
1 Introduction
2 Methods
3 Results
3.1 Security of Digital Twins at the Level of Software Product and Software Implementation
3.2 Mathematical Model as a Basic Component of a Digital Twin
3.3 The Concept of Digital Twins Security
4 Discussions
5 Conclusion
References
Wedge Mechanism Based on the Regulation of Suspension Bracket of Thin Quadrupole Group
1 Introduction
2 Structural Design of Suspension Regulating Bracket
3 Research on Regulating Mechanism of Wedge
3.1 Design of Wedge Regulation Structure
3.2 Study on the Motion of Components in Wedge Regulation Structure
3.3 Study on the Force of Wedge Block in Wedge Regulation Structure
4 Advances in Parametric Design of Wedge Mechanism
5 Conclusions
References
CO2: Utilization, Processing and Industrial Use in Shale Deposits
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusion
References
Forecasting Agricultural Production as a Tool for Effective Industry Management (On the Example of the Chuvash Republic)
1 Introduction
2 Research Methodology
3 Research Results
4 The Discussion of the Results
5 Findings
References
Advanced Solution for Improving Safety of Agricultural Machinery During Storage
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusion
References
Regression Analysis of Immersion of Grains in Liquid
1 Introduction
2 Materials and Methods
3 Results and Discussion
4 Conclusion
References
Simulation of Particle Motion in a Cylindrical Grain Separator
1 Introduction
2 Methods and Materials
3 The Results of the Studies
4 Conclusion
References
Mathematical Modeling of Physical Processes in Metals and Ordered Alloys
1 Introduction
2 Theoretical Part
2.1 System of Equations
2.2 Initial Conditions
2.3 Difference Approximation
2.4 Boundary Conditions
3 Modeling Methods and Techniques
3.1 Paired Potentials
3.2 Lennard-Jones Potential
3.3 Morse Potential
4 Research Results
4.1 Computational Algorithm
4.2 Model Validation in MATLAB Environment
5 Results and Discussion
6 Conclusions
References
Reliability of Robosystem Heterostructures
1 Introduction
2 Setting the Task
3 Materials and Methods
4 Results and Conclusions
References
Operation of the Levelling Device
1 Introduction
2 Materials and Methods
3 Results
4 Discussion
5 Conclusion
References
Automated Soil Microbiology Using Lensless and LDI MS Imaging with Buried Slides
1 Introduction
2 Limitations of Standard Buried Slide Techniques
3 Our Earliest Development in Soil Slide-Based Techniques
4 Conclusion and Possible Perspectives
References
An Alternative Approach to Managing the Nitrogen Content of Cereal Crops
1 Introduction
2 Materials and Methods
2.1 Classification with a Training Data
2.2 Geostatistical Approach
3 Results and Discussions
3.1 Construction of Calibration Curves
3.2 Geostatistical Approach
4 Conclusion
References
Functional Representation of the Soil Hydrophysical Properties Using the Example of Loam
1 Introduction
2 Materials and Methods
3 Results and Discussions
4 Conclusion
References
Using the Model of Hysteresis to Calculate the Precise Irrigation Rate for Silt Loam
1 Introduction
2 Materials and Methods
3 Results and Discussions
4 Conclusion
References
Mathematical Simulation of Seismic Impact for Seismic Zones
1 Introduction
2 Material and Methods
3 Results
4 Discussion and Results
5 Conclusion
References
Stress–Strain State of Angular Areas of Structures
1 Introduction
2 Materials and Methods
2.1 SSS Analysis Using the Theory of Similarity and Dimensionality
2.2 Experimental Solution in the Wedge-Shape Boundary Notch
3 Results
4 Discussion
5 Conclusions
References
The Influence of Deformation and Thermal Effects on the Structure and Properties of the Metal of Welded Structure Elements of Lifting Cranes
1 Introduction
2 Materials and Methods
3 Results and Discussion
4 Conclusions
References
Destruction of Welded Metal Structures of Construction Machines Operated in Corrosive Environments
1 Introduction
2 Materials and Methods
3 Results and Discussion
3.1 Mathematical Models for Calculating Metal Structures of Construction Machines with Unprotected Surfaces
3.2 Mathematical Models for Calculating the Metal Structures of Building Machines Taking into Account the Influence of the Stress–Strain State
3.3 Mathematical Models for Calculating Metal Structures of Construction Machines with Local Corrosion Damage
3.4 Assessment of the Reliability of the Selected Models Using the Example of a Large-Scale Welded Metal Truss
4 Conclusions
References
Design Process of Medical Devices for Robotic Rehabilitation: An Open Innovation-Inspired Approach
1 Introduction
2 Materials and Methods
2.1 The Normative Context
2.2 The Soft Open Innovation Method Adopted by UniBS
3 Results
4 Discussion
5 Conclusions
References
Development of Mathematical Models of Problems of Management the Production Division with a Discrete Unit Type Production
1 Introduction
2 Submission of Manuscripts
3 Results
4 The Mathematical Model of the Problem of Capacity Utilization
5 Conclusion
References
Multi-Agent Reinforcement Learning for Robot Collaboration
1 Introduction
2 Literature Review
3 Problem Statement
4 Materials and Methods
4.1 Analysis of the Structure of the CPI State Monitoring System
4.2 Analysis of the Structure of an Intelligent Agent
4.3 Computer Vision Subsystem
4.4 Learning Subsystem
4.5 Subsystem for the Implementation of the Agent's Behavioral Strategies. Hierarchical Reinforcement Learning
4.6 Subsystem for the Implementation of the Agent's Behavioral Strategies. Multi-Agent Reinforcement Learning
5 Results
6 Discussion
7 Conclusions
References
Mathematical Modeling of Heat and Moisture Regimes of Building for the Facade Thermal Insulation Composite System with Mineral Wool Insulation
1 Introduction
1.1 Problems in the Moisture Transfer Calculations
1.2 Developing Facade Thermal Insulation Composite Systems with Mineral Wool Insulation
1.3 Developing Moisture Transfer Mathematical Models
2 Problem
3 Materials and Methods
3.1 The Mathematical Model of Moisture Regime Based on the Moisture Potential F
3.2 A Discrete–continuous Solution of Unsteady-State Moisture Transfer Equation
3.3 Determination of the Moisture Maximum Plane Position
4 Results and Discussion
4.1 The Facade Thermal Insulation Composite System for Calculation
4.2 Investigation of the Moisture Maximum Plane Position According to the Steady-State Moisture Regime
4.3 Moisture Behavior According to Unsteady-State Moisture Regime
5 Conclusion
References
Determination of the Current State and Forecast of the Remaining Life of the Catenary Supports of Electrified Railways
1 Introduction
2 Problem Statement
3 Research Results
4 Conclusions
References
Effectiveness of Robotic Business Processes in the Enterprise
1 Introduction
2 Materials and Methods of Functional Cost Analysis in Business Process Simulation
3 Digital Tools to Assess the Effectiveness of Robotization of Business Processes of the Enterprise
4 Conclusion
References
Increasing the Information Capacity of Materials Non-destructive Electrical Measurements
1 Introduction
2 Selecting the Test Signal Frequency
3 Selection of Test Signal Magnitude
4 Results
5 Discussion
6 Conclusions
References
4D and 5D Design Processes Automation Using Databases, Classification and Applied Programming
1 Introduction
2 Materials and Methods
3 Results and Discussions
4 Conclusions
References
Study of Fine-Grained Cement Concrete with Ground Glass
1 Introduction
2 Materials and Methods
3 Results and Discussion
4 Conclusion
References
Author Index
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Smart Innovation, Systems and Technologies 247
Mark Shamtsyan Marco Pasetti Alexey Beskopylny Editors
Robotics, Machinery and Engineering Technology for Precision Agriculture Proceedings of XIV International Scientific Conference “INTERAGROMASH 2021”
123
Smart Innovation, Systems and Technologies Volume 247
Series Editors Robert J. Howlett, Bournemouth University and KES International, Shoreham-by-Sea, UK Lakhmi C. Jain, KES International, Shoreham-by-Sea, UK
The Smart Innovation, Systems and Technologies book series encompasses the topics of knowledge, intelligence, innovation and sustainability. The aim of the series is to make available a platform for the publication of books on all aspects of single and multi-disciplinary research on these themes in order to make the latest results available in a readily-accessible form. Volumes on interdisciplinary research combining two or more of these areas is particularly sought. The series covers systems and paradigms that employ knowledge and intelligence in a broad sense. Its scope is systems having embedded knowledge and intelligence, which may be applied to the solution of world problems in industry, the environment and the community. It also focusses on the knowledge-transfer methodologies and innovation strategies employed to make this happen effectively. The combination of intelligent systems tools and a broad range of applications introduces a need for a synergy of disciplines from science, technology, business and the humanities. The series will include conference proceedings, edited collections, monographs, handbooks, reference books, and other relevant types of book in areas of science and technology where smart systems and technologies can offer innovative solutions. High quality content is an essential feature for all book proposals accepted for the series. It is expected that editors of all accepted volumes will ensure that contributions are subjected to an appropriate level of reviewing process and adhere to KES quality principles. Indexed by SCOPUS, EI Compendex, INSPEC, WTI Frankfurt eG, zbMATH, Japanese Science and Technology Agency (JST), SCImago, DBLP. All books published in the series are submitted for consideration in Web of Science.
More information about this series at http://www.springer.com/series/8767
Mark Shamtsyan · Marco Pasetti · Alexey Beskopylny Editors
Robotics, Machinery and Engineering Technology for Precision Agriculture Proceedings of XIV International Scientific Conference “INTERAGROMASH 2021”
Editors Mark Shamtsyan Saint Petersburg State Institute of Technology Saint Petersburg, Russia
Marco Pasetti Department of Information Engineering Università degli Studi di Brescia Brescia, Italy
Alexey Beskopylny Don State Technical University Rostov-on-Don, Russia
ISSN 2190-3018 ISSN 2190-3026 (electronic) Smart Innovation, Systems and Technologies ISBN 978-981-16-3843-5 ISBN 978-981-16-3844-2 (eBook) https://doi.org/10.1007/978-981-16-3844-2 © The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2022 This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations. This Springer imprint is published by the registered company Springer Nature Singapore Pte Ltd. The registered company address is: 152 Beach Road, #21-01/04 Gateway East, Singapore 189721, Singapore
Preface
The book presents proceedings of the international conference INTERAGROMASH 2021 dedicated to the issues of precision agriculture, robotics, machines, and agriculture biotechnologies. It contains a collection of original and fundamental studies by international researchers, academics, and experts in the following areas: software and mobile apps for precision agriculture, robotics systems and machinery for agriculture, simulation models and decision support systems, agricultural engineering, crop production improvement, and others. Modern technologies are developing rapidly and are widely used in the field of agriculture. The materials presented in this book are of significant scientific value and can be used in practice, since they give an idea of existing high-tech solutions for agriculture. The book can be of interest for professionals and practitioners, for researchers, scholars, and producers. It can be used in the educational process at specific agricultural universities or during vocational training at enterprises. Saint Petersburg, Russia Brescia, Italy Rostov-on-Don, Russia
Mark Shamtsyan Marco Pasetti Alexey Beskopylny
v
Contents
Strengthening of Welded Joints of Load-Bearing Structures of Robotic Systems with Ball-Rod Hardening . . . . . . . . . . . . . . . . . . . . . . . . Alexey Beskopylny, Besarion Meskhi, Nikita Beskopylny, Irina Chukarina, Alexandr Isaev, and Andrey Veremeenko Quality Control of Frame Structures of Robotic Systems by Express Nondestructive Methods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alexey Beskopylny, Besarion Meskhi, Nikita Beskopylny, and Margarita Bezuglova Strategy of Service and Maintainability of Machines . . . . . . . . . . . . . . . . . . Mihail Buraev, Alena Tronts, Alexey Shisteev, Galina Buraeva, and Anna Anosova Automatic Monitoring of Smart Greenhouse Parameters and Detection of Plant Diseases by Neural Networks . . . . . . . . . . . . . . . . . . Evgeniy Ivliev, Viktoria Demchenko, and Pavel Obukhov Increasing Biocompatibility of Endoprostheses by Modeling the Impregnation Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Vladimir Taran, Irina Grishina, Andrey Nikolaev, Maksim Dodonov, and Alexandra Lyasnikova Use of Neural Networks and Autopilot for Quick and Accurate Grain Discharge on the Elevator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sergey Popov, Galina Galchenko, Julianna Marchenko, and Dmitry Drozdov Operation of Membrane Apparatus with Polarization Layer Removal Using Artificial Neural Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . Anton Shafray, Ekaterina Sazonova, Dmitry Borodulin, Boris Lobasenko, and Igor Bakin
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21
29
37
45
55
vii
viii
Contents
Methodology for Neural Networks Training at Analyzing the Context of Event at Emotions Recognizing . . . . . . . . . . . . . . . . . . . . . . . Yulia Kovtun, Larisa Cherckesova, Elena Revyakina, Olga Safaryan, Evgeniya Roshchina, and Vitaly Porksheyan Tensometry of Interfaces of the Working Body of Technology Machines for Reclamation Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Aleksey Apatenko and Nadezhda Sevryugina Model of Sealing Joint with Incising Ring . . . . . . . . . . . . . . . . . . . . . . . . . . . . Sergey Kireev, Alexey Lebedev, Haydyar Kaderov, and Daniil Mihaylin Optimization of Hopper System of Pump Unit on Automotive Chassis . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Alexey Lebedev, Sergey Kireev, Marina Korchagina, and Valentin Stepanov
65
73 83
93
Optimization of Parameters of Parts of Brake Device of Piston of Circular . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 Haydyar Kaderov, Sergey Kireev, Alexey Lebedev, and Joerg Sperling Improving the Processing of Thin Wall Sleeves . . . . . . . . . . . . . . . . . . . . . . . 119 Maxim Bogomolov, Andrey Malikov, Alexander Yamnikov, and Aleksandr Brailov Study of the Aeration Processes of Filtering Elements for Wastewater Treatment of Industrial Enterprises . . . . . . . . . . . . . . . . . . 129 Tatyana Novoselova, Larisa Tolmacheva, Alexander Palii, and Jermena Akopdjanyan Layout Features of Drives with Modified Adaptive Friction Clutch . . . . . 137 Mikhail Shishkarev and Alexander Rybak Analyzing the Methods Identification Shaft Position in Active Robotic Assembly of “Shaft-Sleeve” Joints with Chamfer Contact . . . . . . 147 Mikhail Vladimirovich Vartanov, Vladimir Kirillovich Petrov, Van Dung Nguyen, and Dinh Van Tran Design of High Precision Machining Part Processes in Free Abrasives . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 Mikhail Tamarkin, Elina Tishchenko, and Elena Murugova Exploring Cutting Forces While Radial Shaped Turning . . . . . . . . . . . . . . 165 Denis Moiseev Technological Support of Machine Element Corrosion Resistance . . . . . . 175 Oleg Fedonin, Sergey Syanov, and Nina Lakalina
Contents
ix
Manufacturing a Combined Electrode-Instrument by the Method of Fast Prototyping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185 Evgeniy Smolentsev, Vadim Kuts, Mikhail Razumov, and Dmitriy Krokhin Technology of Hardening Plowshares by Electrocontact Welding Using Waste from Tool Production . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197 Rashit Latypov, Anton Serov, Nikita Serov, and Olga Chekha Impact of Fe3 O4 Nanoparticles on Viscous and Tribotechnical Properties of Oleic Acid . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205 Mikhail Shishkarev, Elena Zadoshenko, Maksim Gavrilenko, and Alla Molchanova Sokolenko Study of the Influence of the Grinding Wheel Composition Components on Its Performance During ID Grinding . . . . . . . . . . . . . . . . . 213 Andrey Romanenko, Dmitry Shatko, Andrey Nepogozhev, and Pavel Strelnikov Improvement of Design of Device for Production of Cycloidal Pinion Gear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223 Alexey Lebedev, Sergey Kireev, Marina Korchagina, and Vitaly Lubinec Universal Device for Fixation of Tooling and Articles to Tables of Equipment in Machine Building . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237 Haydyar Kaderov, Sergey Kireev, Alexey Lebedev, and Elena Kutsaeva Study of the Preliminary Elastic Deformation State of Workpieces Made of Non-ferrous Alloys During Drilling . . . . . . . . . . . . . . . . . . . . . . . . . 253 Vadim Kuts, Mikhail Razumov, and Aleksandr Byshkin Influence of the Geometry of a Similars Specimen on the Parameters of the Dynamics of the Thermal Field in Friction Stir Welding . . . . . . . . . 261 Radmir Rzaev, Azatulla Dzhalmukhambetov, Irina Krutova, and Marina Fisenko Development and Mathematical Modeling of the AC Sensor for Refinery Automation Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271 Dmitry Fugarov Discrete-Event Intersection Operation Model (Yasnyy Proyezd-Dezhnev street, Moscow) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283 Dmitry Kuzmin and Vera Baginova MultiSPAS: Multi-Descriptor Physical Approaches to Computerized Plant Ecology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295 Feodor Orekhov and Oleg Gradov
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Contents
Influence of the Problem of Safety Control of Heuristic Algorithms on the Development of Robotics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335 Oleg Tikhanychev New Equipment for Aromatherapy and Related Mobile App: A Tool to Support Small Peasant Farms in Kazakhstan in Crisis . . . . . . . 347 Ibragim Suleimenov, Kaisarali Kadyrzhan, Sherniyaz Kabdushev, Akhat Bakirov, and Eldar Kopishev Security Concept of Digital Twins of Industrial Fuel and Energy Complex Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357 Nikolai Korneev and Vyacheslav Merkulov Wedge Mechanism Based on the Regulation of Suspension Bracket of Thin Quadrupole Group . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369 Xiaowei Xu, Yaqing Yang, Bin Zhang, Yajun Zhen, Haijiao Lu, Yongxiang Pan, and Jiuwei Yu CO2 : Utilization, Processing and Industrial Use in Shale Deposits . . . . . . 381 Dmitry Klimov Forecasting Agricultural Production as a Tool for Effective Industry Management (On the Example of the Chuvash Republic) . . . . . 393 Tatiana Ivanova, Evgeniy Kadyshev, Tatyana Ladykova, Svetlana Brenchagova, Viacheslav Nemtsev, and Anna Ivanova Advanced Solution for Improving Safety of Agricultural Machinery During Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403 Vyacheslav Terentyev, Konstantin Zabara, Alexandr Shemyakin, and Konstantin Andreev Regression Analysis of Immersion of Grains in Liquid . . . . . . . . . . . . . . . . 413 Aleksey Saitov, Vyacheslav Farafonov, and Viktor Saitov Simulation of Particle Motion in a Cylindrical Grain Separator . . . . . . . . 427 Vladimir Zaitsev, Vladimir Konovalov, and Victor Konovalov Mathematical Modeling of Physical Processes in Metals and Ordered Alloys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437 Alexander Semenov, Maria Semenova, Yuriy Bebikhov, and Ilya Yakushev Reliability of Robosystem Heterostructures . . . . . . . . . . . . . . . . . . . . . . . . . . 451 Mikhail Volnikov Operation of the Levelling Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 463 Vladimir Teterin, Mikhail Kostenko, Dmitry Blagov, Sergey Mitrofanov, and Olga Teterina
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Automated Soil Microbiology Using Lensless and LDI MS Imaging with Buried Slides . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471 Feodor Orekhov and Oleg Gradov An Alternative Approach to Managing the Nitrogen Content of Cereal Crops . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481 Olga Mitrofanova, Vyacheslav Yakushev, Elena Zakharova, and Vitaly Terleev Functional Representation of the Soil Hydrophysical Properties Using the Example of Loam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493 Vitaly Terleev, Roman Ginevsky, Viktor Lazarev, Alexander Chusov, Ielizaveta Dunaieva, Kirill Moiseev, Wilfried Mirschel, Luka Akimov, and Aleksandr Nikonorov Using the Model of Hysteresis to Calculate the Precise Irrigation Rate for Silt Loam . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505 Vitaly Terleev, Roman Ginevsky, Viktor Lazarev, Alexander Chusov, Kirill Moiseev, Ielizaveta Dunaieva, Aleksandr Nikonorov, Wilfried Mirschel, and Luka Akimov Mathematical Simulation of Seismic Impact for Seismic Zones . . . . . . . . . 519 Vladimir Lapin, Syrymgali Yerzhanov, Kamadiyar Kassenov, Nurakhmet Makish, Dauren Kassenov, and Zhassulan Omarov Stress–Strain State of Angular Areas of Structures . . . . . . . . . . . . . . . . . . . 531 Lyudmila Frishter The Influence of Deformation and Thermal Effects on the Structure and Properties of the Metal of Welded Structure Elements of Lifting Cranes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539 Alexander Scherbakov, Elizaveta Lukashuk, Alexander Pushkarev, and Tamara Vinogradova Destruction of Welded Metal Structures of Construction Machines Operated in Corrosive Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557 Alexander Scherbakov, Anastasiya Sklyarova, Alexandr Pushkarev, and Andrey Petrov Design Process of Medical Devices for Robotic Rehabilitation: An Open Innovation-Inspired Approach . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575 Raffaele Formicola, Federica Ragni, Alberto Borboni, and Cinzia Amici Development of Mathematical Models of Problems of Management the Production Division with a Discrete Unit Type Production . . . . . . . . . 585 Ilyos Kalandarov Multi-Agent Reinforcement Learning for Robot Collaboration . . . . . . . . . 607 Yury Dubenko, Eugeny Dyshkant, and Dmitry Gura
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Mathematical Modeling of Heat and Moisture Regimes of Building for the Facade Thermal Insulation Composite System with Mineral Wool Insulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625 Kirill Zubarev and Vladimir Gagarin Determination of the Current State and Forecast of the Remaining Life of the Catenary Supports of Electrified Railways . . . . . . . . . . . . . . . . . 635 Valerij Li, Lyudmila Demina, and Sergey Vlasenko Effectiveness of Robotic Business Processes in the Enterprise . . . . . . . . . . 645 Alexander Sukhorukov, Nataliya Ulitskaya, Tatyana Fomicheva, Julia Sulyagina, and Sergey Eroshkin Increasing the Information Capacity of Materials Non-destructive Electrical Measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 657 Nikolay Pshchelko, Olga Tsareva, and Vera Breskich 4D and 5D Design Processes Automation Using Databases, Classification and Applied Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667 Artur Kuzminykh, Anna Kukina, and Galina Bardina Study of Fine-Grained Cement Concrete with Ground Glass . . . . . . . . . . 677 Yuliya Schepochkina, Sergey Voinash, Viktoria Sokolova, Dmitry Koloshein, and Alexander Scherbakov Author Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687
About the Editors
Dr. Mark Shamtsyan (1967) is Professor of St. Petersburg State Institute of Technology (Technical University), Russia. His scientific works are focused in the field of food biotechnology, food regulations and safety. He is Global Harmonization Initiative (GHI) Ambassador to Russia and Co-Chair of GHI working group on mycotoxins, Chairman of Russian Regional Section of European Hygienic Engineering and Design Group (EHEDG) and EHEDG Authorized Trainer. He is one of the founders of Black Sea regional association of Food Science and Technology (B-FoST) and its ExCo Member. He is Fellow of International Academy of Food Science and Technology and Member of International Academy of Refrigeration. Dr. Marco Pasetti (1972) is Assistant Professor of Electrical Energy Systems at the Department of Information Engineering of the University of Brescia (Università degli Studi di Brescia), Italy. Main research interests include energy systems, distributed generation, renewable energy sources, solar engineering, photovoltaics, energy storage, energy management systems, supervisory control and data acquisition, electric vehicle charging systems, smart grids and micro-grids. Dr. Alexey Beskopylny (1958) is Doctor of Science, Professor and Vice-Rector for Academic Affairs and Advanced Degrees of the Don State Technical University, Russia. His scientific interests are dynamic of structures, non-destructive methods, impact indentation and reliability of machines and structures.
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Strengthening of Welded Joints of Load-Bearing Structures of Robotic Systems with Ball-Rod Hardening Alexey Beskopylny , Besarion Meskhi , Nikita Beskopylny , Irina Chukarina , Alexandr Isaev , and Andrey Veremeenko
Abstract The article considers the problem of assessing the hardening of a buttwelded joint made of structural steel 09G2S during ball-rod hardening of a steel plate. The problem of ensuring the strength of welded joints is critical for heavy-loaded frame structures of robotic systems used in agriculture. The numerical analysis of the problem of ball-rod hardening was carried out in the ANSYS software in a static plane formulation. The inhomogeneity of the material of the welded joint was specified by various elastoplastic elements with bilinear isotropic hardening. The analysis of the deformation fields in the contact zone of the ball-rod indenter with the inhomogeneous plate made it possible to estimate the degree of hardening of the heat-affected zone and select the modes of the ball-rod hardening.
1 Introduction The reliable performance of welded joints in heavy-duty frame structures of robotic systems is critical to ensure the entire structure’s reliability. It is known that welded joints have high heterogeneity due to the influence of thermal effects and significantly complicate preliminary strength calculations since the medium becomes significantly anisotropic, and the properties of the material are not known. In works [1–3], to determine the material’s mechanical properties, indentation methods are used as the most effective methods for assessing the strength characteristics. At the same time, the problem of determining the strength of the entire structure, taking into account the heterogeneity of the welded joint, remains. The welded joint’s structure and properties have characteristic features due to the influence of thermal action, which causes heterogeneity, which reduces the strength of the welded joint. It is shown in [4] that when welding DP800 and DP1000 steels, the microhardness tendency for all welded joints was characterized by the highest value in the weld zone and the lowest in the heat-affected zone (Fig. 1). The degree A. Beskopylny (B) · B. Meskhi · N. Beskopylny · I. Chukarina · A. Isaev · A. Veremeenko Don State Technical University, sq. Gagarin, 1, Rostov-on-Don, Russia 344003 © The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd. 2022 M. Shamtsyan et al. (eds.), Robotics, Machinery and Engineering Technology for Precision Agriculture, Smart Innovation, Systems and Technologies 247, https://doi.org/10.1007/978-981-16-3844-2_1
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A. Beskopylny et al.
Fig.1 Scattering of microhardness along the length of the welded joint according to [4]
of softening reached 20% and, as can be seen from Fig. 1 has a large statistical dispersion. In [5], a new mathematical model is proposed that describes the physical phenomena in submerged arc welding of fillet welds. Numerical modeling of the temperature distribution during welding is carried out and the distribution of temperature fields influencing the processes of hardening and softening is obtained. The softening zone is a weak link in the strength of the welded joint, and many technological operations are aimed at increasing the strength in this particular zone. In work [6], a method and a device for strengthening the welded joints of pipes under the combined action of shock-vibration and thermal effects are proposed. The results showed that this method can increase the strength of the weakened zone by about 20% and reduce the dissipation of the strength characteristics of the welded joint. The method of shock-vibration hardening is also effectively used in the hardening of crankshafts [7] while maintaining the requirements for processing accuracy. Shockvibration methods are widely used in the problems of diagnostics of inhomogeneous media [8]. Similar processes occur in friction welding technology. In [9], the microstructure of the weld and heat-affected zone, as well as the heat-affected zone located between them, formed during friction stir welding, was investigated. With this welding technology, the core of the welded seams is not formed in the superplasticity mode, and its structure has a shear-strip character. Due to the peculiarities of friction welding technology, the dependence of the microhardness on the coordinate along the length of the welded joint has a slightly different character. However, a softening zone is present.
Strengthening of Welded Joints of Load-Bearing …
3
In [10], the grain structure and texture were investigated using electron backscattering diffraction. Strength characteristics in the area of softening and fusion have been investigated. True stress–true strain curves were determined experimentally. The study of the evolution of the microstructure of softening zones after cyclic plastic deformation and its effect on the mechanical properties of welded joints of a wound pipeline X60 was carried out in [11]. The authors showed that the presence of a weakened zone led to the fact that the deformation was mainly concentrated in this area during the cyclic loading process. However, a fracture was observed in the base metal zone due to the effect of strain hardening of the material in the HAZ. In [12–15], the authors experimentally investigated the multiple impacts of a ballrod hardener with an energy of 2.5 J of structural steels St3, 45 and aluminum alloys D16, B95, AVT. The dependences of the depth of surface hardening and surface roughness are obtained for various processing modes and the characteristics of the acoustic process are analyzed to ensure safe working conditions. Thus, it can be seen that shock-vibration methods of surface plastic deformation are effective methods for locally increasing the strength of a structure. However, the issues related to the choice of hardening modes, impact energy or indentation force, technological parameters of the hardening process and the conditions for fixing the part remain unclear. The purpose of this article is to simulate the processes of strengthening welded joints of frame structures of robotic agricultural machines, to determine their strength characteristics, taking into account the inhomogeneous state of the welded joint, and to recommend the choice of the mode of strengthening with a ball-bar hardener.
2 Materials and Methods In this work, we used structural steels of the 09G2S type. The chemical composition of the steel is shown in Table 1. Mechanical characteristics of steel are given in Table 2. The elastic modulus of steel is 2.05E+5 MPa and Poisson’s ratio is 0.3. The modulus of elasticity of the indenter is 2E+6 MPa. The weld joint is a butt-welded plate with manual arc welding. Fig. 2 shows a diagram of a welded joint in a flat setting (flat deformation). The X-axis is directed horizontally and coincides with the bottom edge of the plate. The Y-axis is directed vertically and coincides with the middle of the weld. Due to the symmetry of the problem, we consider only the ½ part. Table1 Mass fraction of main chemical elements, % C
Si
Mn
P
S
Cr
Ni
V
Cu