Creation of an innovative robot with a gripper for moving plant microshoots from the in vitro transport tank to the working tank with soil ground at the stage of their adaptation in soil ground during microclonal reproduction

Abstract

The industrial development of cities is the main cause of the destruction and degradation of natural resources around the world. Urbanization negatively affects the species composition of plants, the atmosphere and soil cover of areas of populated areas of large cities of the World. Tree plantations are the main mechanism for stabilizing the ecological situation in large cities and arid territories of the countries of the World. In this regard, in order to obtain a large number of genetically identical plants using their micropropagation, it is necessary to automate the main stages of this technological process. The result of the study is the creation of an adaptive phalanx gripper of a robotic complex for automating the technological process of handling operations. That will have a positive effect on solving the urgent problem of planting greenery in large cities and areas of arid territories not only in the Republic of Kazakhstan, but also in other countries of the World and represents a fundamentally new approach to solving the environmental problems of the Earth. The article substantiates various options for structural-kinematic schemes of the robot gripper, taking into account the stochastic conditions of its interaction with the overloaded object. Mathematical methods have been created for the selection and justification of the geometric, structural-kinematic and dynamic parameters of grippers for overloading plant microshoots and their computer 3D models. Software has been developed for modeling the functioning of a remotely controlled physical prototype of a mobile robot with an adaptive gripper for reloading microshoots from a transport tank to a cargo tank.

Development of intelligent and expert system for automation of processes of mining and transport works on the basis of satellite navigation

“…The value of the resistance force to the destruction of the rock mass section, obtained by analytical and experimental methods, was refined by finding the optimal Kalman coefficient at sg=1 and s δ =10, and at K=0.1, stabilization of changes in the values of the Kalman coefficient was observed [21].…”

“…where L is the bracket length between push bar and brace, m; l is the distance between the hinges of fastening the push bar and brace to the bulldozer blade with a removable cutting knife, m; r is the length of the pushing beam between the hinges of its attachment to the bulldozer blade with a removable cutting knife and the hinges of its attachment to the bracket, m; R is the length of the brace between the hinges for attaching it to the bulldozer blade with a removable cutting knife and the hinges for attaching it to the bracket, m. At the same time, random errors caused by the deviation of the designed actuator of the bulldozer blade with a removable cutting knife from its "ideal" model ( 8), and representing random errors, are determined by statistical moments Mg i , whose values and their distribution laws do not depend on time (iteration numbers i); mean error values are zero: Mg i =Mδ i =0; the law of distribution of random variables may not be known, but their variances are known 2 g s and 2 ; δ s it is assumed that all random errors are independent [21].…”

“…To determine the Kalman weight coefficient, it is necessary to calculate the statistical moments of random errors of its mathematical model and systematic errors in measuring the resistance force of destruction of a section of the soil mass of the actuator of the bulldozer blade and the thickness of the layer of the destroyed section of the soil mass. Thus, an algorithm is implemented for solving the developed mathematical model, evaluating the stochastic system of the dynamic process of interaction between the actuator of the bulldozer blade with a removable cutting knife and the developed section of the soil mass using an iterative formula for calculating the weight coefficient K [21].…”

“…Confidence interval at the reliability level g=0.95 and s δ =10 and Student's coefficient t(g,n)=2.009 was (78.52;84.18). The constructed confidence interval for estimating the mathematical expectation of the random value of the resistance force to the destruction of a section of a rock mass (soil category III (clay) with a cutting angle in the range from 20° to 30° and the value of the Pearson criterion, at a significance level of α=0.05, allowed draw a conclusion about the normal distribution of the general population of the random variable under study, the force of resistance to the destruction of a section of the rock mass R. The value of the force of resistance to the destruction of the rock mass section, obtained by analytical and experimental methods, is refined by finding the optimal Kalman coefficient at s g =1 and s δ =10 and at K=0.1, stabilization of changes in the values of the Kalman coefficient was observed [21].…”

Innovative technology to solve the problems of automation of mining and geological works

“…Based on the developed functional-economic approach [4,5], this paper proposes a promising view for a skip loader for transporting rock masses in a quarry. Several variants of innovative single-rope and multi-rope skip loaders without a hoisting machine are proposed, the use of which allows transporting lumpy rock masses in one step in a skip loaders with unlimited volume, e.g.…”