ElAr KhNURE:: Головна

ISSN: 2310-8061

Репозиторій Харківського національного університету радіоелектроніки «ElAr КhNURE» є електронною платформою, що містить публікації наукових праць та досліджень науково-педагогічних працівників, інших співробітників, здобувачів вищої освіти ХНУРЕ. Серед них монографії, статті з наукових журналів та збірників, матеріали науково-практичних заходів, наукові публікації (розміщуються за умови наявності рецензії наукового керівника) та кваліфікаційні роботи здобувачів вищої освіти (розміщуються за дозволом автора КвР).

З усіх питань звертатися до адміністратора ElAr KhNURE за адресою: yuliia.derevianko@nure.ua

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Останні подання

Design of the structure and motion control system of a stationary robot manipulator for construction work
(2025) Nevliudov, I. S.
The article presents the results of a comprehensive study dedicated to the development of a stationary robotic manipulator (palletizer) for performing technological operations in the construction industry. The work presents an integrated approach to designing a stationary robotic manipulator, encompassing its structural, hardware, and software aspects. A structural diagram of the automated control system has been developed, which establishes functional connections between the controller, feedback sensors, actuators, and the database for storing operational parameters. This diagram outlines the architecture of the robot’s key components, providing a conceptual framework for implementing the system. A comparative analysis of modern software environments for three dimensional modeling, including Blender, SolidWorks, and Autodesk 3ds Max, has been conducted based on criteria such as accessibility, functionality, testing capabilities, ease of learning, and support for engineering formats. Based on the analysis results, the choice of the Blender platform as the optimal tool is justified, as it provides the best balance between accessibility, visualization capabilities, and manipulator kinematics animation. The modeling methodology is described in detail, including the stages of planning, creating basic geometric primitives, detailed modeling using various tools, and the Mirror, Subdivision Surface, and Boolean modifiers for geometry optimization, as well as creating a skeletal framework to simulate the robot’s movements. A fully functional three-dimensional model of a stationary palletizing robot manipulator has been created, which reproduces its structural features, spatial arrangement of components, and kinematic capabilities. The model allows for the visualization of the movement trajectories of individual manipulator segments and the verification of the design’s functionality in a virtual environment before the physical manufacturing stage. The hardware part of the system was implemented using the Autodesk Tinkercad platform, which allowed for virtual modeling of the electronic circuit connections of components without the need for physical devices. Software has been implemented based on the Arduino microcontroller using the Servo.h library to control servomotors through pulse-width modulation. The practical significance of the obtained results lies in the creation of a functional prototype of a stationary palletizing robot control system, which can be used for educational purposes, demonstrating the principles of robotics in construction, and for further modification. The obtained results provide a basis for expanding the system’s functionality through the integration of additional sensors for automatic object position detection, implementation of autonomous trajectory control algorithms, development of wireless control interfaces, and adaptation of the design for specific construction operations involving the palletization of materials at construction sites.
Multi-Agent Collaborative Robots With Adaptive Sensor Fusion for Monitoring and Mitigation of Emergency Situations
(ХНУРЕ, 2026) Yevsieiev, V.; Demska, N.
The paper considers an approach to using multi-agent collaborative robotic systems with adaptive sensor fusion for monitoring and mitigation of emergency situations. A system architecture is proposed in which a group of mobile robots cooperatively collects, integrates, and analyzes sensor data to form a consistent representation of the environment and support decision making. It is shown that the use of adaptive sensor information integration increases the system’s robustness to noise and failures of individual agents. The presented results of numerical simulations confirm the effectiveness of the proposed approach under dynamic and uncertain conditions..
ІДЕНТИФІКАЦІЯ ОПЕРАТОРА В РОБОЧІЙ ЗОНІ КОЛАБОРАТИВНОГО РОБОТА
(ХНУРЕ, 2026) Гурін, Д. В.; Мірошниченко, Ю. М.
представлено метод ідентифікації оператора у робочій зоні колаборативного робота, наведені результати експериментальних досліджень розробленого програмного модуля ідентифікації оператора у робочій зоні колаборативного робота. Надано оцінку ефективності програмного модуля та подальшого впровадження
Using Historical Data in the NNARX Model to Improve the Accuracy of Microclimate Parameter Forecasting
(ХНУРЕ, 2026) Yevsieiev, V.; Holod, I.
The paper considers an approach to forecasting microclimate parameters in industrial premises based on a neural network of the NNARX type using historical data. The feasibility of incorporating time delays of input and output parameters is substantiated, taking into account the inertial nature of microclimate processes. The role of the autoregressive component in forming the internal “memory” of the model and ensuring temporal consistency of forecasts is demonstrated. The proposed approach establishes methodological prerequisites for the application of NNARX in intelligent microclimate control systems operating under dynamic industrial conditions.
Розроблення прототипу зооморфного робота
(ХНУРЕ, 2026) Гурін, Д. В.; Грижак, В. М.
представлено етапи розроблення прототипу зооморфного робота, обґрунтовано вибір компонентів, .наведена схема підключення та описано систему контролю кроками. Наведені сфери застосування та можливості для модернізації