В результаті аналізу задач оптимізації управління технологічними процесами виробництва виробів нової техніки в нечітких умовах виявлено, що при дослідженні технологічного об'єкта управління невисокої розмірності може бути використаний підхід, заснований на заміні нечітких множин множинами α-рівня і зведенні нечіткої оптимізаційної задачі до класичної задачі математичного програмування. Показано що для оптимізації управлінням багатоопераційним технологічними процесами більше раціональним є підхід Беллмана-Заде на основі принципу злиття цілей і обмежень, який вимагає подальшого розвитку на випадок нечітких станів технологічного об'єкта управління. Крім того, не вирішена проблема об'єднання нечітких цілей і обмежень у разі їх неоднакової важливості або взаємозалежності. Для вирішення цих проблем запропоновано метод оптимізації стратегії управління технологічними процесами виробництва за багатьма критеріями. В якості узагальненого критерію використовується згортка критеріїв у вигляді нечіткого інтеграла Сугено.

This paper presents a monitoring system development. This system is designed to upgrade existing production equipment in order to implement IIoT and CPPS approaches and to use all the advantages of these approaches. Authors constructed proposed monitoring system using ESP32-CAM and Arduino Uno. For the testing one analog-digital sound sensor KY-037, one water level sensor, and two temperature and humidity sensors DHT11 were used. Then there was developed hardware and software that allowed to obtain desired results of getting data from sensors and processing them in necessary way. Experimental results showed a possibility of using such a system for existing production equipment upgrade.

РОЗРОБКА 3D-МОДЕЛІ ЗООМОРФНОГО МОБІЛЬНОГО РОБОТА ДЛЯ ВЕРТИКАЛЬНИХ ПЕРЕМІЩЕНЬ ПО

Modern production is impossible without the introduction of advanced technologies, which are reflected in the concept of the fourth industrial revolution Industry 4.0.The proposed concept affects all areas of production processes, through the introduction of cyber-physical production systems (CPPS), robotic systems (RS), artificial intelligence (AI), the use of Industrial Internet of Things (IIoT) and the desire for full automation of all technological processes (TP).This approach to the implementation of production processes allows to solve a number of complex problems: optimization and automation of TP, obtaining data on the implementation of TP in real time, collecting analytical information for № 8( 8) 2022 8 monitoring and forecasting, which will allow to fulfill the requirements of Lean Manufacturing (LM).To solve these problems, it is necessary to create a single information environment, based on IIoT, which would cover all stages of production management.This requires that all equipment be part of a single information space of the enterprise, for which it is necessary to replace obsolete equipment with new one with the support of digital control systems, which leads to large financial losses.In this regard, many companies are considering the task of upgrading existing equipment.The solution of this problem is a complex scientific and technical problem, the solution of which covers the following areas: the theory of automatic control, circuitry, programming.One of the difficult objects to upgrade is a robot manipulator.This article discusses some aspects of solving the problem of modernization of the robot control system manipulator PUMA-560 (PM-01).The study of actuators, PM-01 engines and control cabinet Puma Mark III (Sphere-36 ( 56)), developed a structural control scheme PUMA-560 lower level.The element base is analyzed, the microprocessor is chosen and the circuit diagram is designed.Using EDA Altium Designer, a printed circuit board for the PUMA-560 manipulator control system was developed with the ability to connect to modern microcomputers, such as LattePanda, running Windows 10/11.The proposed solution, according to the authors, will automate the control system of the manipulator PUMA-560 and connect it to a single information network based on IIoT.

In this paper, the authors solve the problem of developing a computer vision system with the implementation of object recognition and identification functions for a small-sized mobile humanoid robot. To solve this problem, a microcontroller module based on ESP32-Cam is used. A block diagram of the system has been developed and operation algorithms have been described both for the microcontroller and for software implementations on a PC. The connection diagram of the programmer is shown and a number of experiments were carried out on the speed and accuracy of object recognition at different distances and lighting conditions.

The research of the world's leading companies in the field of progressive robotics, such as Feso, Boston Dynamics, shows the perspective of using the biomechanics of living beings to create zoomorphic robots for solving complex problems [1-3]. In the work of H.Atttar, it was proposed the solution of the development of a zoomorphic robot for moving along vertical surfaces based on the borrowing the kinematics of Family Caterpillar's movement. Analyzing this publication, it can be seen, that the author uses the ESP 8266-12 as a mobile robot control board, and as a result, it is impossible to implement a computer vision and decision-making system for the developed mobile robot. Based on this, it is proposed to implement the improvement for a mobile robot on account of the ESP32-CAM module of Shenzhen Al-Thinker Co.Ltd [5]. The foundation for choosing this module is the existence of a slot for connecting cameras OV2640 and OV7670, which support resolutions up to UXGA (1622 × 1200 pixels) streaming video. Main technical characteristics of ESP32-CAM: clock frequency: up to 160 MHz; Memory: 520 KB SRAM, 4 MB PSRAM, SD card slot; Wi-Fi 802.11b/g/n, Bluetooth 4.2 with BLE; microcontroller processing power: up to 600 DMIPS; 9 GPIO pins with interface support: UART/SPI/I2C/PWM/ADC/DAC. Based on the above parameters of the ESP32-CAM module, it was developed the following architecture of a mobile robot for vertical movement, which is shown in Figure 1.

This paper discusses the development of new hardware and software for protecting access to HMI/SCADA systems via Unprotected Internet Networks (UPN), mainly when working remotely with confidential information. Based on the analysis carried out, it is shown that the existing vulnerabilities can be exploited by cybercriminals to steal passwords and user authentication logins. Modern protection technologies based on the OTP method have been investigated. Moreover, a new concept of information security for user authentication in UPNs when working with information remotely is proposed. The structure of the electronic key and the connection diagram based on the selected hardware modules have been developed. In addition, the two-level user identification algorithms and the firmware program code for the ATmega32U4 microcontroller are considered. Finally, to show the reliability and stability of the of the developed electronic user authentication key against any unexpected software hacking, a number of experiments have been performed.

The subject of this research is the technology of management of mobile robot groups in the concept of Industry 4.0 and its composition. The purpose of this article is to find ways to implement an effective strategy for building and managing mobile robotic platforms in Warehousing, as a key tool of Lean Production. To achieve this goal, it is necessary to solve the following tasks: to analyze the management of supply chains in Smart Manufacturing, within Industry 4.0 and its impact on achieving the goals of Lean Production; to study the evolution of technologies used in Warehousing in the dynamics of the Industrial Revolution; to analyze the evolution of Warehouse Management Systems (WMS) as one of the most important components on the basis of which the requirements for automation of Warehousing automation in Smart Manufacturing with group management of mobile robotic platforms are implemented and achieved; to compare the impact of the technologies used by Warehousing 4.0 and Warehouse Management Systems on the key indicators of Lean Production. Results: One of the promising ways to achieve the effectiveness of the implementation of Lean Production tools in WMS systems is the use of Collaborative Robot System technology, which makes it possible to ensure a high density of product storage in Warehousing. However, modern mobile robotic platforms have their limitations both in the methods of loading and unloading products, and in the design. Therefore, the authors see the task in improving the design of mobile robotic platforms, which will develop a new intelligent group method of loading and unloading products, increasing the storage density for a variety of goods. Conclusions: The paper compares the impact of Warehousing 4.0 and Warehouse Management Systems on key Lean Production tools, which shows how the introduction of new group management technologies for robotic platforms in Warehousing 4.0 and Warehouse Management Systems (WMS) affects the effectiveness of Lean Production tools such as Heijunka, Just-in-time, 5S. This suggests that the introduction of new models and methods of managing complex warehouses with high density and chaotic storage of products, through the use of mobile robotic autonomous systems, will significantly optimize the process of supply chain management in Smart Manufacturing.

As a result of multivariate finite element calculations, the dependences of the rated and starting moments of the induction motor were obtained with varying the diameter and perforations number of the hollow rotor. From the obtained dependencies consideration, it follows that rotor’s perforations affect the induction motor’s mechanical characteristic like a decrease in voltage at the terminals of the stator winding.

The development of cyber-physical production systems is a complex scientific and technical task, therefore the developer needs to determine the requirements, tasks for the system being developed and choose an architectural model for its implementation. In turn, the choice of an architectural model assumes a balance for the set of requirements of persons interested in its development. In a typical case, the development of a specific cyber-physical industrial systems needs to be adapted to the means of implementation, to the realities of its future use, maintenance and evolution. Subject matter of this study are architectural models for building complex cyber-physical production systems. Goal of this article is a study of architectural models DIKW and 5C, according to the results of the decomposition of which, in the future, it will be possible to carry out a mathematical description of elementary problems of each level and their physical or simulation modeling. To achieve this goal, it is necessary to solve the following tasks: analyze the DIKW model; analyze the architectural model 5C; compare the DIKW model and the 5C architectural model, using its structural decomposition into levels, information and command channels with feedback within each structure. The research carried out is based on the methods of decomposition and formalized representation of systems. Conclusions: Based on the results of the decomposition at each structural level of the DIKW and 5C models, a decomposition structure was developed, which shows the main differences and general similarities of the models. It was revealed that the 5C model, as a common software shell that combines integrated sensors and actuators, is more suitable for solving problems of developing a cyber-physical production system, and the DIKW interpretation model is more suitable for solving problems of modifying existing systems at enterprises, and the choice of the model itself the development of a cyber-physical production system depends on the requirements of the customer, existing equipment, the level of its automation and the level of project financing.

Постійне вдосконалення парку технологічного обладнання, в умовах існуючого виробництва, є складним завданням, при вирішенні якого необхідно враховувати багато параметрів, таких як механізація, автоматизація і застосування нових технологій в рамках концепції Industry 4.0. Одним з ефективних методів підвищення техніко-економічних показників та надійності виробництва є модернізація існуючого технологічного оснащення, яка ґрунтується на необхідності використання сучасних методів розробки і впровадження інформаційних технологій, таких як Industrial Internet of Things, кібер-фізичних виробничих систем. Предметом даного дослідження є апробація методів розробки адитивного кібер-дизайну для автоматизації складного промислового обладнання. Метою даної статті є розробка кібер-фізичної виробничої системи керування, для модернізації преса гідравлічного ДА2238Б. Для досягнення поставленої мети необхідно вирішити такі завдання: провести аналіз технічних характеристик і системи керування преса гідравлічного ДА2238Б; провести дослідження схеми гідравлічної принципової на базі якої обрати датчики і виконавчі механізми, а також режими роботи; розробити схему включення гідро обладнання; розробити автоматизовану систему керування на базі сучасного одноплатного комп'ютера і розробити інтуїтивно зрозумілий адитивний кібер-дизайн інтерфейсу оператора; провести експериментальні дослідження. Висновки: в результаті досліджень було розроблено структурну схему та реалізовано автоматизовану систему керування на базі LattePanda. Обрані датчики тиску і температури для контролю процесів пресування, що дозволило забезпечити точне дотримання вимог технологічного процесу. Розроблено автоматизоване робоче місце оператора, в якому реалізовано сенсорне управління на базі адитивного кібер-дизайну. Розроблена система керування забезпечує: збір та аналіз виробничих даних, на базі яких можна вдосконалити технологію виробництва і забезпечити прогнозування досягнення "Lean Manufacturing".

Continuous improvement of the fleet of technological equipment, in the conditions of existing production, is a difficult task, the solution of which must take into account many parameters, such as mechanization, automation and application of new technologies within the concept of Industry 4.0. One of the effective methods of improving the technical and economic indicators and reliability of production is the modernization of existing technological equipment, which is based on the need to use modern methods of development and implementation of information technology, such as Industrial Internet of Things, cyber-physical production systems. The subject of this study is the testing of methods for developing additive cyber design for automation of complex industrial equipment. The goal of this article is to develop a cyber-physical production control system for the modernization of the DA2238B hydraulic press. To achieve this goal it is necessary to solve the following tasks: to analyze the technical characteristics and control system of the hydraulic press DA2238B; to carry out research of the scheme of hydraulic basic and, taking it into account, to choose sensors and executive mechanisms, and also operating modes; to develop the scheme of inclusion of the hydro equipment; to develop an automated control system based on a modern single-board computer and to develop an intuitive additive cyber-design of the operator interface; to conduct experimental research. Conclusions: as a result of research, a block diagram was developed and an automated control system based on LattePanda was implemented. Selected pressure and temperature sensors for control of pressing processes, which allowed to ensure accurate compliance with the requirements of the technological process. An automated operator's workplace has been developed, in which touch control based on additive cyber-design has been implemented. The developed control system provides: collection and analysis of production data on the basis of which it is possible to improve production technology and to provide forecasting of achievement "Lean Manufacturing".

In the paper a method is described that is used for constructing the MEMS stiffness matrix on basis of the stress-strain method taking into account the type of deformation that corresponds to the calculated stiffness component and the classification of forces contributing to each type of deformation.

Конструкції сучасної електронної техніки є складними механічними системами з безліччю жорстких зв'язків, а їх мікромінітюаризація у багатьох випадках дійшла до фізичної межі розмірного, зарядового та енергетичного квантування компонентів. Для таких механічних систем, з некласичними для механіки способами кріплення окремих конструктивних елементів, складно побудувати розрахункову модель, досить просту і в той же час таку, що добре відображає фізичні і динамічні властивості. Для забезпечення механічної міцності міжз’єднань та зверхтонких електронних компонентів необхідною є можливість визначення напружено-деформованого стану елементів конструкцій. Ці причини зумовлюють необхідність застосування чисельних методів для розрахунку динамічних параметрів конструкцій міжз’єднань електронної техніки, що дозволить підвищити показники надійності розроблюваних засобів, що відповідають вимогам нормативно-технічної документації по механічним характеристикам, скоротити терміни і вартість їх створення. Предметом даної роботи є дослідження деформації балки постійного поперечного перерізу під дією осьових сил, згинальних моментів і крутного моменту щодо поздовжньої осі. Метою даної роботи є визначення деформації елементів конструкції пристроїв з використанням матриці жорсткості при відомому векторі зовнішніх сил. Для досягнення поставленої мети необхідне вирішення наступних завдань: розглянути існуючі методи опису та аналізу, які враховують специфіку використовуваних конструкцій і технологічних процесів виготовлення конкретних структур МЕМС; дослідити сутність цих методів; провести розрахунок переміщень і деформацій, використовуючи метод скінченних елементів; використовуючи матрицю жорсткості, визначити деформації елементів конструкції пристроїв; провести розрахунок деформації балки постійного поперечного перерізу під дією осьових сил, згинальних моментів і крутного моменту щодо поздовжньої осі. Висновки: матриця жорсткості, побудована з використанням матричного функціонального аналізу, дозволяє забезпечити розрахунок деформації елементів МЕМС і гнучких електронних міжз’єднань.

The designs of modern electronic technology are complex mechanical systems with many rigid bonds, and their microminiature in many cases has reached the physical limit of the dimensional, charge and energy quantization of components. For such mechanical systems, with non-classical methods for mechanics of fastening of separate structural elements, it is difficult to build a design model, simple enough and at the same time one that well reflects physical and dynamic properties. To ensure mechanical strength of interconnects and ultra-thin electronic components, it is necessary to determine the stress-strain state of structural elements. These reasons necessitate the use of numerical methods to calculate the dynamic parameters of the design of electronic equipment interconnections, which will improve the reliability of the developed tools that meet the requirements of regulatory technical documentation on mechanical characteristics, shorten the time and cost of their creation. Subject matter of this work is the study of beam deformation of constant cross section under the action of axial forces, bending moments and torque relative to the longitudinal axis. Goal this work is to determine the deformation of the elements of the structure of the devices using the stiffness matrix with a known vector of external forces. To achieve this goal, it is necessary to solve the following tasks: to consider the existing methods of description and analysis, which take into account the specificity of the structures and technological processes used to manufacture specific structures MEMS; explore the nature of these methods; calculate displacements and deformations using the finite element method; using the stiffness matrix to determine the deformation of the structural elements of the devices; to calculate the deformation of the beam of constant cross-section under the action of axial forces, bending moments and torque relative to the longitudinal axis. Conclusions: stiffness matrix, constructed using functional analysis, allows for the calculation of deformation of MEMS elements and electronic interconnect flexible.

The subject of research in the article is production management processes based on cyber-physical systems. The purpose of the work is to automate the management of production processes using the cybernetic component and analyze the results. To achieve this goal, it is necessary to solve the following tasks: develop an analytical and logical model of the CPPS development management process taking into account the requirements specified in the terms of reference for the development CPPS; to present the analytical and logical structure of connections in the form of a model of interaction of the main windows and all the necessary graphical elements for the implementation of the full-featured interface of the developed CPPS; to carry out experimental researches of efficiency and practical approbation of the received theoretical results, by comparison of classical methods and the developed ones. Results: The targets, physical and cybernetic components of the CPPS development management process were combined in a single information space from the beginning of development to its implementation. The process of checking the achievement of the main goal of CPPS development has been automated, which makes it possible to make changes and manage the CPPS development process at any level and stage of the proposed technology. The process of managing the development of the cybernetic component is automated on the basis of synthesized algorithms of functioning using the GUI elements of object-oriented programming languages, which made it possible to increase the flexibility of the proposed architecture and technologies for automating the CPPS development process and to reduce the development time of the cybernetic component. Conclusions: the proposed models and methods will not only automate the process of managing the development of CPPS from scratch, but will also make it possible to automate the process of managing the development of the cybernetic component for the modernization and improvement of existing CPPS.

The features of the formation of microconnections in electronic modules on an aluminum-polyimide basis by the method of ultrasonic welding, which allows to obtain reliable mounting joints of different thickness aluminum without preliminary removal of oxide films where the use of contact welding and soldering are practically difficult or impossible, are investigated. The influence of technological modes (power of an ultrasonic generator, oscillation amplitude of a welding tip (tool), welding force and welding time) on the reliability of mounting microconnections is considered