This paper discusses the formalized representation of a mechanical subsystem of a robotic manipulator as a component circuit with vector links for the purposes of dynamics problems. Set-theoretical definition of a component circuit is represented. A matrix-topological interpretation of the components of solid body and kinematic node is discussed. Component models can be used for mechanical systems modeling and simulation systems software develipment.

The mass-conduction (diffusion) properties of sunflower seeds of the "MAS 95 OL" variety were experimentally investigated. From the experimental drying curves obtained in the intradiffusion kinetic mode at two temperatures of the drying agent (air), the coefficients of mass conductivity (moisture diffusion) were calculated by the zonal method, which are presented as dependences on the moisture content of the core and shell, respectively. It is shown that the coefficients of mass conductivity of nuclei and shells depend on the moisture content of the material and differ significantly both in magnitude and in the nature of the concentration dependences. The coefficient of mass conductivity of nuclei in different areas of moisture content is 15-25 times higher than that of shells, this is explained by differences in the structure of these materials. In the area of moisture content less than 0.5 kg / (kg of dry materiall), both dependences have the same character of concave functions increasing with moisture content, this is a consequence of the same mechanism of mass transfer dominating in this area of moisture content, which is osmotic mass transfer. In seed kernels, the area of moisture content of more than 0.5 kg / (kg of dry material) is absent, but in seed shells it is present and vapor diffusion dominates in it. The data on the coefficient of mass conductivity for seed shells were compared with the coefficient of mass conductivity of another capillary-porous colloidal material with a similar structure - wood. The nature of the concentration dependences for both materials is the same, which is explained by the similarity of the morphological structure of wood and seed shells, which have a tree-like structure. The coefficient of mass conductivity of the seed kernel was compared with the coefficients of mass conductivity of other capillary-porous colloidal materials of plant and animal origin. Comparison showed that they have the same order of mass conductivity coefficient: 10-9 m2/s. This is explained by the identical structure of these materials, which have a cellular structure, and, probably, by the same mechanisms of mass transfer at the corresponding moisture content. The obtained data on the coefficients of mass conductivity of the kernel and shell of sunflower seed can be used for the kinetic calculation of the process of convective drying of this material based on the solution of the differential equations of internal heat and mass transfer A.V. Lykov with the representation of the seed as a two-layer body.

STRUCTURAL-FUNCTIONAL SCHEME OF A COMPUTER MODEL OF THE SMART HY-DROPONIC GREENHOUSESThe article introduces structural and functional scheme of "Smart hydroponic greenhouse" based on decomposition of the control object. It allows you to build multilevel component circuits of control subsystems for various parameters, in order to test the control algorithms and search for optimal functioning modes of the executive and measuring devices.

Data on the mass conductivity coefficient have been obtained during drying the onion seeds in a thick layer of 5 mm thick ventilated on the surface, which were calculated by the zonal method on the basis of experimental curves of drying and heating. These data are described by the dependence of the mass conductivity coefficient on temperature and moisture content of the material.  The comparison of the mass conductivity coefficient values for a layer and for single seeds is given,  which shows that: 1) the mass conductivity coefficient in the layer changes significantly during drying, therefore, this change must be taken into account; 2) the change in the mass conductivity coefficient is due to its dependence on both moisture content and temperature, but the influence of temperature prevails over the influence of moisture content, therefore, themass conductivity coefficient increases during drying, 3) the mass conductivity coefficient in the layer is two orders of magnitude higher than for single seeds. The curve of seeds drying in a layer of 5 mm thick have been calculated using the obtained data on the mass conductivity coefficient for the process of oscillating infrared seeds drying carried out at a material temperature fluctuation in the range from tmin = 34 °C to tmax = 40 °C, which showed satisfactory agreement of the results of calculation and experiment. Experimental and calculated curves of oscillating infrared seeds drying in a layer of 5 mm thick are compared with analogous curves of drying the seeds in a monolayer, which showed that, despite the fact that the mass conductivity coefficient of seeds in a layer of 5 mm thick is two orders of magnitude greater than in a monolayer, the drying of seeds in the first case is slower because of the greater thickness of the layer. To calculate the kinetics of the process of oscillating infrared seeds drying in a dense layer, when its surface temperature oscillates in the range from tmin = 34 °C to tmax = 40 °C, the zonal method is recommended using the obtained data on the mass conductivity coefficient, taking into account the change in the mass conductivity during the process.Forcitation:Rudobashta S.P., Zueva G.A., Dmitriev V.M. Study of mass conductivity properties of seedslayer. Izv. Vyssh. Uchebn. Zaved. Khim. Khim. Tekhnol. 2017. V. 60. N 7. P. 72-77.

Experimentally obtained and analyzed the mass transfer properties during drying of kernels and shells of sunflower seeds.