F. N. Pritykin, D. B. Fedorov
Analysis of instantaneous states of the output link of anthropomorphic robot mechanism using geometric modeling methods
DOI: 10.25206/1813-8225-2025-195-5-12
The analysis of instantaneous states of the moving system connected with the output link of the anthropomorphic robot is carried out based on the use of graphical constructions performed on the frontal and horizontal projections. The constructions of the velocity plane and the velocity beam are performed for the obtained instantaneous values of generalized velocities using the example of the given synthesis of small motions of the robot mechanism. The synthesis of movements is based on the use of matrices of partial gear ratios using the criterion of minimizing the quadratic functional of the volume of movement. The graphical analysis of the components of the vectors of absolute linear velocities of three points of the moving system made it possible to determine the method for calculating intermediate configurations of the arm of the anthropomorphic robot based on the use of weight coefficients of generalized velocities. The results of calculating the test task in computer modeling of the movement of the anthropomorphic robot are presented. 

Keywords: mechanisms of manipulators, instantaneous states of mechanisms, vector of generalized velocities, graphical constructions of the velocity plane, velocity beam, computer modeling of the movements of anthropomorphic robots, synthesis of manipulator movements, restricted areas.

V. Yu. Yurkov, M. A. Chizhik
Geometric shape parameterization of multidimensional finite non-regular point sets
DOI: 10.25206/1813-8225-2025-195-13-18
The paper is devoted to a formal approach to parameterization the geometric shape of spatial point irregular sets in multidimensional Euclidean space. The geometric shape of the point set is described by means of the set of numerical parameters that determine the relative position of all points of the set up to similarity. Numeric shape parameters are defined as ratios of distances between given points and vertices of some basis simplex. The basis simplex is selected at the given set of points. It is shown that geometric shape of the set or the set of numerical parameters does not depend on the choice of the basis simplex. Change of the basis means recalculation of shape parameters values by linear transformation formulas. Amultidimensional object, the geometric shape of which is supposed to be described by numerical parameters, is previously subjected to simplicial approximation. Such an approximation is considered as a simplicial complex having a combinatorial structure. The paper also shows that all values of the shape parameters have to be satisfy some conditions that generate some area in the multidimensional space of parameters. To illustrate the described approach several examples are given. The proposed approach can be applied to solving a number of theoretical and applied problems of engineering geometry in the field of multidimensional geometric morphometry. 

Keywords: geometric shape, parameterization, simplex, complex, simplicial approximation, similarity, geometric morphometry.

E. K. Savich
Digital quality management toolkit at product lifecycle stages
DOI: 10.25206/1813-8225-2025-195-19-26
This article studies the processes of digitalization of the quality management system at industrial enterprises by developing and implementing specialized digital tools designed to manage quality at various stages of the product life cycle. The developed digital toolkit is a set of integrated services and software modules that provide automation and optimization of key quality control and management processes. As part of the study, a structural model of digital tools is proposed, a list of necessary digital tools is detailed, and their significance is justified to increase the efficiency of enterprises in the context of digital transformation. 

Keywords: digital platform, digital tools, quality management, quality management system, business processes, product life cycle.

K. A. Brazhnikova, E. K. Savich
Assessment of the quality of the research process at the stage of scientific studies
DOI: 10.25206/1813-8225-2025-195-27-33
The structural model of the scientific research process is investigated on the example of the processes of physical-mathematical and physical modeling of heat and mass transfer when creating an on-board system of gasification of liquid components of rocket fuel in the tanks of spent stages of launch vehicles. Methodical recommendations for assessing the quality of the scientific research process are given, containing a list of quality criteria at the stage of research work, including a certain structure of single indicators. The structure of the complex quality assessment of the research process is proposed, as well as block diagrams of the physical-mathematical and physical modeling process, taking into account the introduced quality criteria, allowing to increase the reliability of the obtained results with the least expenditure of labor, time, financial and material-technical resources. The presented materials can be used as a basis for a universal approach to assess the quality of the scientific research process in solving a wide range of research problems, for example, heat and mass transfer, dynamics, ballistics, programming of complex algorithms, etc. 

Keywords: quality, research, process, criteria, reliability, risks, evaluation.

A. I. Antonov, D. Yu. Rudi
Simulation modelling of nonlinear modes of electric network operation and processing of results using a computer program
DOI: 10.25206/1813-8225-2025-195-34-43
The trend of industrial facilities development is directly related to the introduction of various semiconductor converters into power supply systems. However, the issue of influence of these converters on the quality of electric power remains relevant. Power installations of induction heating, which include thyristor frequency converter, can cause the appearance of harmonic distortions. The paper presents an active experiment on a selected object of study with a nonlinear load. This developed model is designed to determine the indicators of power quality caused by the operation of nonlinear load. The model allows carrying out studies of the influence of nonlinear load on the quality of electrical energy at different parameters of the electrical network. The results of the experiment are processed using a computer program and the analysis of data processing of the results is carried out. 

Keywords: power quality, modeling, power receivers, induction heating units, voltage non-sinusoidality, harmonic distortions.

T. V. Kovaleva, O. O. Komyakova, N. V. Pashkova
Study of the influence of AC railway traction network on adjacent devices using simulation modeling
DOI: 10.25206/1813-8225-2025-195-44-50
The article investigates the possibility of joint operation of the traction network of alternating current railways and related devices subject to electromagnetic influence using simulation modeling in the SimInTech and Elcut programs. The distributed nature of the line parameters and non-sinusoidality of the supply voltages are taken into account during the modeling. The voltage and current values obtained in the SimInTech program are the initial data for modeling the electromagnetic field pattern in the Elcut program. The results of modeling electric and magnetic fields are presented, which allow to estimate the intensity of the fields, their tension, the value of the induced voltage in the affected object. The prospects of scientific research in the field of analysis of electromagnetic fields created by the traction network of alternating current in various modes of its operation are shown. 

Keywords: traction network of alternating current, electric railways, simulation model, electromagnetic field, electromagnetic intencion, induced voltage.

O. V. Kosareva-Volodko, Alilu Sani Maman Kabiru, E. N. Shaforostova
Economic evaluation of a grid-connected photovoltaic system using PVsystem software
DOI: 10.25206/1813-8225-2025-195-51-59
Among renewable energy resources, photovoltaic solar energy is the most important resource. For photovoltaic installation system, capturing the maximum solar energy is a challenge, because many factors influence the energy production of the system. Among these factors, there are: technology choice which is generally expensive, orientation of the panel, ambient temperature and weather, geographical location of the solar irradiances and the tilt angle. To carry out a good project for sizing photovoltaic system, a technical-economic study must be carefully done. Located in the heart of the Sahel, Niger is one of the sunniest countries in the world with an average daily sunshine between 5 and 7 kW•h/m2 /day. Despite this enormous solar potential, the country does not sufficiently exploit this resource due to the increase in the price of raw materials which has led to an increase in the cost of installing a photovoltaic system. The objective of this work is to present a technical and economic analysis of a grid connected photovoltaic system in with a capacity of 11 MW in Niger. To do this work, PVsystem software was used for economical and financial data generation using methods like Levelized cost of electricity. During this evaluation, assumptions were made: the location of installation is free, taxes and duties during the purchase and transport of the equipment will not be considered and considering the start year of the project began in 2024 and the project lifetime is 20 years, after simulation of the results obtained: Levelized Cost of Energy is 0.0138 EUR/KW•h; Net present Value is 26 430 389 EUR; Internal rate of return is 40.92 %; Payback period is 2.8 Years; Return on investment is 606.2 %. 

Keywords: LCOE method, economic evaluation of photovoltaic system, technical and economic analysis, photovoltaic system, grid connected photovoltaic system, solar potential, PVSystem software.

V. V. Mikhanoshin, A. F. Burkov, A. Yu. Filozhenko
Application of powerful multiphase electric machines in marine rowing electric installations
DOI: 10.25206/1813-8225-2025-195-60-65
The advantages of electric propulsion systems contribute to their use on ships and ships of the navy — icebreakers, ferries, tugboats, cruisers, etc., which require increased maneuverability and survivability. One of the significant disadvantages of electric propulsion systems, limiting their wider application, is the reduced efficiency compared to the direct transmission of the torque of the main drive motor to the propeller. In addition, compared to other variants of propulsive installations, rowing electric installations occupy more of the interior space of the vessel. Issues related to improving the reliability of electric propulsion systems are also relevant. If the three-phase power supply system is most widespread in coastal electric power systems, due to the cost-effectiveness of transmitting electricity over long distances, then on electric ships, due to the much shorter distances between sources (main generators) and main electric consumers (rowing electric motors), it seems advisable to use power supply systems with a number of phases greater than three. Based on the analysis of existing types, a new design of electric machines with several stator-rotor pairs integrated into each other, protected by a patent for the invention, is proposed. The use of such machines on electric drives, the stator cores of which are equipped with multiphase windings (with more than three phases), will solve the above tasks. 

Keywords: multiphase winding, reliability, semiconductor converter, working condition, electric machine, energy efficiency.

O. A. Yushkova, I. R. Garipov, I. F. Sayakhov
Prospects for application of 3D-printing cryoresistant windings for electric machines
DOI: 10.25206/1813-8225-2025-195-66-72
The article presents a review of the literature on cryogenic electric machines. The advantages and disadvantages of their development and implementation, problems associated with the use of hightemperature superconductors are considered. Various approaches to cryogenic cooling of electric machines are considered, such as direct contact of the coolant with the active elements of the electric machine and cooling through the contact of the active elements of the electric machine with the refrigeration machine. A description of an experimental stand for assessing the prospects for the use of additive technologies in the design and production of windings for cryogenic electric machines and a test methodology for a printed winding made of aluminum alloy RS-300 (AlSi10Mg), manufactured by SLM printing are presented. The results of experimental studies are presented, during which the relationship between the winding temperature, current density and heat dissipation power is established. The characteristics of the printed aluminum winding are compared with a winding made of copper wire manufactured in a traditional way. 

Keywords: cooling system, cryogenic cooling, printed winding, additive technologies, SLM printing, cryogenic electric machine, AlSi10Mg.

A. M. Daynovich.
Comparative analysis of signal demodulation methods in phase-lock motor drive
DOI: 10.25206/1813-8225-2025-195-73-78
The article is devoted to assessing the possibility of expanding the operating range of phase-lock motor drive in the low shaft speed area. The analog and digital control system models of motor drive in Matlab software are proposed. The research of proposed models is obtained by using phase plain method. Based on a comparative analysis of the simulation results, the lower frequency limit for using different demodulator types and research methods of phase-lock loop is determined. 

Keywords: phase-lock motor drive, demodulation device, low-pass filter, sample-and-hold circuit, phase plain method, simulation modeling, frequency bandwidth.

B. R. Saidmurodov, S. E. Kokin
Models for operational forecasting of energy consumption in electric arc furnaces using machine learning methods
DOI: 10.25206/1813-8225-2025-195-79-84
The article examines models for forecasting the energy consumption of electric arc furnaces using machine learning methods. Classical approaches such as time series analysis, regression models, and exponential smoothing methods are studied, along with modern techniques including gradient boosting (XGBoost, LightGBM) and neural networks (LSTM, CNN). Special attention is given to parameter optimization methods, such as grid search, genetic algorithms, and Bayesian optimization, which enhance the accuracy and adaptability of the models. The advantages of hybrid models integrating classical and machine learning methods to account for linear and nonlinear dependencies are highlighted. Practical applications of the proposed approaches in energy consumption management are discussed, aiming at cost reduction, improved sustainability, and production process optimization. 

Keywords: energy consumption forecasting, electric arc furnaces, machine learning, neural networks, energy consumption management, parameter optimization, intelligent control systems, Big Data.

A. Yu. Turybrin, A. V. Bubnov, A. N. Chetverik
Improvement of optimization of the drive design for laser scanners based on the analysis of characteristics of scanning devices in construction industry
DOI: 10.25206/1813-8225-2025-195-85-94
A laser scanning is a promising method of control in construction, providing high accuracy and speed of measurements. Terrestrial laser scanning is one of the key tools within the framework of Building Information Modeling technology, enabling the acquisition of precise data regarding the size, position, and deviation of objects. The article analyzes various areas of application of terrestrial laser scanning in construction and determines priority requirements for the technical specifications of the equipment. The significant role of the drive system in ensuring high angular accuracy of scanning is emphasized. An analysis of existing laser scanning systems is conducted, focusing on the technical features of drive designs that ensure high angular precision, and the main directions for further improvement of drive systems are determined. The possibility of applying electric drive control systems based on Phase-Locked Loop technology to reduce scanning costs without reducing angular accuracy through the optimization of electric drive design is considered. It is clarified how the improvement of electric drives can facilitate the wider application of terrestrial laser scanning in construction. 

Keywords: PLL, electric drive, terrestrial laser scanning, BIM technologies, angular accuracy, encoder, friction coupling, construction control.

E. V. Egorov, D. D. Borovykh
Application of an operational measuring complex for monitoring the operating mode of an asynchronous electric motor with a closed-loop rotor
DOI: 10.25206/1813-8225-2025-195-95-102
This article examines the operation of an operational measuring complex based on contactless current and voltage meters to monitor the operating parameters of an asynchronous electric motor with a closedloop rotor. A simulation of the operation of an electric motor has been carried out and the calculated parameters of the mode have been obtained under the conditions of the electrical connection scheme under consideration. Various modes of engine operation are implemented using a laboratory stand during the experiment. The experimental results obtained by the operational measurement complex are analyzed, as well as compared with the calculation results and reference data. Based on the analysis, a conclusion is made about the correctness of the complex's operation in relation to monitoring the parameters of electrical modes. 

Keywords: operational and measuring complex, contactless sensor, operating modes, short circuit, electric motor, digitalization, electrical system.

S. V. Biryukov
Three-component spherical dual-type electric field strength sensor
DOI: 10.25206/1813-8225-2025-195-103-110
The article proposes a new design solution for a three-component electroinductive spherical electric field strength sensor with sensitive electrodes in the form of spherical digons and their parts. The sensor is based on a two-component dual-type sensor and a single-component dual-type sensor, the sensitive elements of which are parts of spherical digons organized into spherical segments with an angular size of 0 .  The sensitive electrodes of the sensor are thirty-six conductive spherical surfaces isolated from each other and from the conductive spherical base of the sensor. The sensitive electrodes are used to form sensitive elements in the form of spherical digons for four dual sensors, two on the x and y coordinate axes, and in the form of spherical segments for one dual sensor along the z coordinate axis. The studies conducted in the work showed that the design dimensions of the sensitive elements of the sensor and the spatial measurement range affect its error caused by the field inhomogeneity. Optimized design dimensions of the sensor's sensitive elements and limited spatial measurement range made it possible to create a sensor with an error from field inhomogeneity in modulus not exceeding an error of ± 0.55 % in the permissible spatial measurement range of 0  a  0.5, which corresponds to a minimum distance to the field source of d = 2R. To ensure such an error and such spatial measurements, the sensor's sensitive elements in the form of spherical digons must have angular dimensions of 0 = 90 º and 01 = 30 º, and in the form of a spherical segment, the angular size must be 0 = 61.5 º. The proposed three-component spherical sensor can form the basis of an industrial frequency electric field strength meter. 

Keywords: electric field, field strength, three-component spherical sensor, sensitive electrode, sensitive element, spherical digon, spherical segment, error from field inhomogeneity.

L. R. Grigoryan, N. M. Bogatov, R. L. Grigoryan
Methods and equipment for metrological certification of phase-measuring equipment
DOI: 10.25206/1813-8225-2025-195-111-117
The paper analyzes the main components characterizing the accuracy of phase measurement methods: — basic error, at equal levels of the signals under study; — amplitude-phase error at unequal levels of the signals under study. The hardware for determining these error components is: — a developed microcontroller two-phase phase calibrator based on DDS generators, the accuracy of setting phase shifts of which in the frequency range of up to 1 MHz is hundredths of a degree; — a calibrated attenuator D2-31 with fixed attenuation values of 10 dB, providing a phase error at a frequency of 1 MHz of no more than 0,03º. 

Keywords: measurement, phase methods, frequency, error, accuracy, verification.

G. M. Sidelnikov
Noise immunity of a binary phase modulated signal demodulator with adaptive configuration change of decision boundaries in a multipath channel
DOI: 10.25206/1813-8225-2025-195-118-124
The article considers the possibilities of a coherent phase-modulated binary signal demodulator in a multipath channel with adaptive rotation of a signal constellation. The author determines the rotation angle, which increases the signal distance depending on the information flow of the modulated signal. Moreover, the noise immunity of reception is defined on the basis of statistical distribution functions of signal distances obtained by mathematical modeling on a computer. Therefore, when the signal constellation rotates, the greatest effect is achieved at the maximum intensity of the additional beam. As a result, the research demonstrates the dependence of the rotation efficiency on the intensity of the additional beam. 

Keywords: signal distance, two-beam model, signal constellation rotation, error probability, binary phase modulation, signal distance multiplier, multipath, Gaussian noise, intersymbol interference.