Link Position Research Articles

Hopf-link GaAs-AlGaAs quantum ring under geometric and external field settings

Within the framework of effective mass approximation and with the use of finite element method, we calculate the energy states of an electron in a double toroidal quantum ring with a Hopf link structure. The study includes the influence of externally applied static electric and magnetic fields, and considers different geometric combinations of radii and link positions. We have found that geometric manipulations have significant impact on the energy values and the distribution of electronic probability densities in either one or both linked rings. Similar effects can be achieved with the application of the electromagnetic probes.

NUMERICAL INVESTIGATION OF THE INFLUENCE OF THE LINK POSITIONING IN THE CORONARY STENT INSIDE THE NORMAL ARTERY: A COMPARATIVE STUDY OF TWO COMMERCIAL STENT DESIGNS

This paper investigates the performance of two commercial stent designs inside the normal artery for induced Von Mises Stress and radial displacement pattern. Investigation focuses on identifying the key design feature of the stent structure responsible for varied stress and displacement pattern. Two commercial stent designs, Supraflex (Stent S) and Yukon Choice (Stent T),are modeled using micro CT images and MIMICS® while idealized models are used for investigation. ANSYS Workbench is used to numerically expand the stent inside an idealized normal artery with inflation pressure. The stent and the artery are modeled using elastic-plastic and hyperelastic material models, respectively. The results suggest crucial influence of the link positioning in inducing an area of higher Von Mises Stress and stress gradient. The locations of a higher stress gradient are those in line with unbound stent crowns. Also, higher and uniform arterial displacement can be observed in the locations in line with the bound crown. Results also suggested a considerable difference in arterial distortion induced by two designs, causes for which can also be attributed to the differences in the link placement. The study suggests that the link connections play a crucial role in setting up stress field/radial displacement. Suitable modification of the link positioning can reduce the higher stress gradient and arterial distortion, which probably can reduce arterial injury.

Comparison of topological functionality-based resilience metrics using link criticality

Resilient road networks ensure that transportation systems can withstand and return to normal performance fast after disruptions. Ensuring a better network structure for the system promises better resilience, irrespective of demand variations. Comparison between the ability of different topological functionality-based metrics in literature to measure resilience is an unexplored area. This study will bridge the gap by evaluating four such metrics. The distinguishing feature of the study is that link criticality approach and traffic functionality measures are used for comparing the metrics. The links are removed according to the order of their criticality ranking, and network performance is measured using Global Importance Index. The advantages of the proposed methodology are twofold. First, the position of critical links provides insight into the network characteristics measured by the metric. Second, the usage of traffic functionality-based performance measure for comparison ensures that the metric captures traffic perspective also. The position of critical links obtained using the four metrics for the networks considered in the study provides interesting observations about the network property that influences them. Also, the networks degrade the maximum when links are removed according to number of independent paths ranking when the network is not already majorly disrupted. Hence, it is more effective at measuring resilience in such networks. For networks that are already disrupted, removing links based on Global efficiency affected the network more.

Temporal origin of nestedness in interaction networks

Abstract Nestedness is a common property of communication, finance, trade, and ecological networks. In networks with high levels of nestedness, the link positions of low-degree nodes (those with few links) form nested subsets of the link positions of high-degree nodes (those with many links), leading to matrix representations with characteristic upper triangular or staircase patterns. Recent theoretical work has connected nestedness to the functionality of complex systems and has suggested that it is a structural by-product of the skewed degree distributions often seen in empirical data. However, mechanisms for generating nestedness remain poorly understood, limiting the connections that can be made between system processes and observed network structures. Here, we show that a simple probabilistic model based on phenology—the timing of copresences among interaction partners—can produce nested structures and correctly predict around two-thirds of interactions in two fish market networks and around one-third of interactions in 22 plant–pollinator networks. Notably, the links most readily explained by frequent actor copresences appear to form a backbone of nested interactions, with the remaining interactions attributable to opportunistic interactions or preferences for particular interaction partners that are not routinely available.

Nonminimal Bridge Position of 2-Cable Links

A knot (or link) in bridge position is said to be perturbed if there exists a cancelling pair of bridge disks, which gives rise to a lower index bridge position. For some classes of knots, every nonminimal bridge position is perturbed. We study whether such a property is preserved by cabling operation. In this paper, we show that the property is preserved for 2-cable links, that is, if every nonminimal bridge position of a knot K is perturbed, then every nonminimal bridge position of a 2-cable link L of K is also perturbed.

Application of direct and inverse kinematics and dynamics in motion planning of manipulator links

For the synthesis of manipulators and robots, an accurate analysis of the movements of the individual links is essential. This thesis deals with motion planning of the effector of a multi-linked manipulator. An important topic in this area is the orientation and position of links and kinematic pairs in space. In particular, attention should be paid to the position of their endpoint as well as other significant points. Trajectory planning allows the manipulator to perform complex tasks, such as picking and placing objects or following a particular path in space. Overall, trajectory planning of a multibody manipulator involves a combination of direct and inverse kinematics calculations, as well as control theory and optimization techniques. It is an important process enabling manipulators to perform complex tasks such as assembly, handling and inspection. In the design of robot kinematic structures, simulation programs are currently used for their kinematic and dynamic analysis. The proposed manipulator was first solved by inverse kinematics problem in Matlab. Subsequently, the trajectories of the end-effector were determined in Matlab by a direct kinematics problem. In Simulink, using the SimMechanics library, the inverse problem of dynamics was used to determine the trajectories of the moments.

Статическое нагружение силового гидропривода звеньев манипулятора лесотранспортной машины в критическом режиме

The safe and effective modes of operation of handling equipment of the manipulator type for the forest complex assume a mandatory horizontal position of the frame of the mobile technological machine. In unfavorable production conditions, a forest transport machine may find itself in a critical situation associated with the rotation of the manipulator's support frame relative to the horizon. Correction of this situation can be provided through the use of outriggers. This paper presents the results of a theoretical study of static loads that are characteristic of hydraulic cylinders of outriggers and other elements of the hydraulic manipulator of a forest transport machine with its various configurations. Technologies for loading, moving and unloading forest cargoes can be carried out using special equipment, subject to certain rules. The safe and effective operation modes of manipulator handling equipment assume a mandatory horizontal position of the support-turntable. In unfavorable production conditions, the wood transport machine may find itself in a critical situation related to the rotation of the support and turning frame of the manipulator relative to the horizon. Correction of such position can be insured by use of outriggers. This paper presents the theoretical study results of the static loads, which are characteristic for the hydraulic cylinder of outrigger and other elements of the hydraulic manipulator of a timber transport machine in its various configurations. Balance equations in generalized coordinates are used to describe the equilibrium conditions of the mechanical system under study, which includes a basic vehicle, outriggers, a boom, a handle with a telescopic extension, a grip device and hydraulic drives that ensure their functioning. The rotation angle of support-turning frame in vertical plane, the boom rotation angle, the handle rotation angle and extension of the telescopic part are selected as generalized coordinates. Analytical expressions are obtained for forces on rods of hydraulic cylinders and the working fluid pressure values in piston cavities of hydraulic cylinders in equilibrium state at different position of manipulator links. Calculations based on the obtained formulas can be used in designing technological modes of operation of timber transport machines for carrying out loading and unloading operations of cargoes with the possibility of bringing the support-turntable into a horizontal position.

Development of a spatial orientation model for the actuator of a mechatronic system

Purpose. Development of a control system for a mechatronic system, taking into account the geometric solution of the inverse kinematics problem. The methods. The research was based on the principles of theoretical and applied mechanics, as well as the Denavit-Hartenberg transformation model. The formation of graphical computational models and kinematic diagrams simplified the development of the mathematical model of the dynamic system without considering the forces acting on the mechanism links. The possibility of using matrix transformations to simplify the search for generalized coordinates and transition to the local disposition of each link was explored for further integration of the obtained results into automation and control systems. Findings. The obtained results, determining the trajectory of the gripper using inverse kinematics models, allowed the development of algorithms for determining the position of mechanism links with the possibility of software implementation of the control system. Identifying patterns for determining accurate position coordinates by the matrix method allows the application of open-source software for real-time position calculations. The originality. The use of modern technologies for visual assessment of the external environment and coordinating control impulses of the executive body drive was first achieved based on the mathematical model of the inverse kinematics of a multi-link mechanism. This automated the determination of local coordinates for each link within its degrees of freedom and algorithmized this process. Combining the mathematical models of mechanism kinematics and the matrix form of coordinate search allows investigating the influence of the displacement of the i-th link of the mechatronic technical complex on the overall system, considering the acting force systems and the specified spatial orientation of both the executive body and intermediate links. Practical implementation. The implementation of obtained kinematic models using the matrix method enables the software realization of algorithms for searching the coordinates of the i-th mechanism link, automating the control process with the task of final positions, determining the level of integral error during the displacement of the initial link, and providing the possibility of programming autonomous mechatronic systems with open-source code. As a result, the introduction of semi or fully autonomous technical complexes will automate technological processes in various industries.

Mathematical Model of Flexible Link Dynamics in Marine Tethered Systems Considering Torsion and its Influence on Tension Force

Abstract The rigidity in bending of a flexible link (is an important characteristic that should be considered during regular service conditions. The tension and bending with torsion of wire ropes are also significant factors. This study proposed a method to calculate the vectors of the generalised forces of bending of flexible links. One of the causes of torsional stresses in the power plant of underwater tethered systems is the interaction with ship equipment, such as spiral winding on the winch drum, friction on the flanges of the pulleys or winch drums, and bends on various blocks and rolls that cause torsion. The source of torsional stresses in the FL may also be related to manufacturing, storage, transportation, and its placement on the ship’s winch drums. Torsion can lead to a decrease in the tensile strength due to load redistribution between power elements, or even a violation of their structure. In some cases, torsion significantly affects the movement of the underwater tethered system as a whole. The development of a mathematical model to describe the marine tethered systems dynamics, taking into account the effect of torsion, is important and relevant. The mathematical model of the marine tethered systems dynamics was improved and solved by accounting for the generalised forces of the torsion rigidity of the flexible link, using an algorithm and computer program. The influence of the bending and torsional rigidity of the FL on its deflection and tensile strength were considered based on the example of two problems. The developed program’s working window image shows the simulated parameters and the initial position of the flexible link. The results show that torsion has almost no effect on the shape of the a flexible link’s deflection in the X0Z plane, but leads to a deviation from the X0Z plane when calculating the static deflection of the flexible link. When the carrier vessel is stationary and the submersible vehicle has no restrictions on movement and has positive buoyancy, torsion leads to a three-dimensional change in the shape of the flexible link both in the X0Z plane and in the X0Y plane. The tension force of the flexible link along its length is distributed unevenly, and the torsion of the flexible link can lead to significant changes in its shape, the trajectory of towed objects, and the forces acting on the elements of the marine tethered systems

Development and Experimental Studies of a Method Based on a Reference Control Signal Generating System for Redundant Serial Manipulators

The paper presents the design and experimental study of a synthesis method based on reference signal generation systems. The method can be used for all actuators of redundant manipulators. The aforementioned systems aim to save the dynamic control accuracy of the working tools of serial manipulators when they move along arbitrary spatial trajectories, taking into account restrictions in all degrees of freedom and special cases of their link positions. The maintenance of the control accuracy could be ensured by eliminating the reach of all degrees of freedom of manipulators to their limits and to indicated special positions, characterized by an ambiguity when solving the inverse kinematic problems of various serial manipulators. This is in addition to preventing the reach of their working tools to the boundaries of the working area due to the use of a redundant degree of freedom when approaching the indicated undesirable positions. The experimental studies performed in this paper confirm the efficiency of the proposed method and allow accurate characteristics to be obtained.

Real-time path correction of industrial robots in machining of large-scale components based on model and data hybrid drive

Industrial robots are increasingly used in machining of large-scale components due to advantages of high repeatability, large workspace and low cost. Nevertheless, applying industrial robots to high-accuracy machining of large-scale components remains a challenge, where the major hurdle is the insufficient manipulator stiffness due to joint flexibility. When the robot is performing a machining task, joint flexibility-induced position errors between motor and link called joint position errors (JPEs), as the main source of robot deformations, make the robot deviate from the desired path. For most industrial robots, due to the lack of link-side encoders, it is difficult to obtain the JPEs by direct measurement and compensate them in the controller, which deteriorates the path accuracy of the robot during machining greatly. To address this problem, this paper presents a real-time path correction approach of industrial robots based on JPE estimation and compensation with requiring only motor-side measurements and external wrenches. The proposed approach is divided into three steps. First, to estimate the actual link position of the robot in real-time, the dynamics of a manipulator with joint flexibility called flexible dynamics (FD) is introduced. Second, by taking both FD and disturbance dynamics into account, a novel link state estimator called flexible-dynamics based disturbance Kalman filter (FDBDKF) is developed, and thus JPEs can be estimated in real-time. Third, a data-driven locally weighted projection regression (LWPR)-based JPE prediction and compensation method is developed to further improve the compensation accuracy of the JPEs. Simulation and experimental results, obtained on a 6-DOF industrial robot, demonstrate the feasibility and effectiveness of the proposed approach. Experimental results show significant improvement (>80%) in the path accuracy of a simple material removal process corrected using the proposed approach.

DESIGN OF A FUNCTIONAL MODEL OF A THREE-WHEELED MOBILE ROBOT

Mobile wheeled robots are one of the most widespread group of service robots today. The simplicity of their design and their ability to better negotiate difficult terrain places them at the forefront. In practice, it is possible to find a variety of mobilewheeled robots, which differ from each other in the number and arrangement of wheels, the variety of structural design, or the suspension of the wheels and their suspension. Current statistics confirm that mobile service robots on wheeled chassis are themost numerous design of all realized applications, technical practice has filled with the diversity of their design solutions. The diversity of wheeled mobile service robots is mainly in the design of the wheeled chassis, the solutions range from single-wheeled to multi-wheeled concepts, from simple variants of the chassis layout to special or combined systems. The purpose of the article is the design of a three-wheeled robot, which will include the derivation of a mathematical model, the construction of a simulation model and the creation of a model in CAD software. An important part of the robot analysis is a complete kinematic model of the mechanical system, which provides all the necessary kinematic quantities for both the dynamic model of the mechanical system (force application, link loading, sizing) and for control needs (synthesis of position and velocity controllers). It is mainly about the position and orientation of the end working point in time and the corresponding position of the individual links of the mechanism. The next step was the overall design of the electronic system by appropriately selecting the electronic components and also creating the overall electronic circuitry. Finally, an experimental realistic model of the mobile robot was created from the simulation results.

FEATURES OF MARINE AND RIVER PORT INFRASTRUCTURE FUNCTIONING IN THE SYSTEM OF ADAPTATION TO EXTERNAL POSITIONING CONDITIONS

Topicality. The expediency of developing scientific regulations is related to the need to take into account the new operating conditions of maritime enterprises of Ukraine and their adaptation. It is also important to analyze and justify the parametric features of the positioning of maritime transport enterprises. First of all, it is necessary to take into account: factors of the development of the global maritime trade market, trends and prospects of the global maritime industry, the state and competitive positioning of the port business, the functioning and prospects of the development of logistic - multimodal transport systems.Aim and tasks. Systematization of factors and substantiation of the peculiarities of the positioning of marine and river infrastructure enterprises of Ukraine, clarification of new conditions for the development of transport enterprises in the structure of the regional transport market. Achieving the set goal of the research is conditioned by the need to solve the following tasks: analysis and substantiation of parametric features of the development of the global maritime trade market, conditions for the development of the global maritime merchant fleet, analysis of the environment of international investments and the investment attractiveness of the maritime industry of Ukraine, trends and peculiarities of the positioning of the development of private and state property in the structure of the national stevedore market, substantiating the strategic importance of the marine and river infrastructure of Ukraine in ensuring the economic security of the country and overcoming the food crisis in the world.Materials and methods. The scientific basis of the research was methods of analysis and synthesis, methods of mathematical statistics, methods of grouping, methods of making rational decisions, methods of operations research, as well as official data of statistical information, data of the United Nations Trade and Development Conference, the Ministry of Infrastructure of Ukraine, analytical materials of state statistics of Ukraine, analytical data of the administration of seaports of Ukraine.Research results. The trends and prospects for the development of world maritime trade are considered. The dynamics of the shipping capacity of the world merchant fleet for 2018-2021 is presented. The assessment of the state of the maritime trade market is given. Flows of foreign direct investments were analyzed and factors affecting their dynamics were identified. The state of the port infrastructure of Ukraine is substantiated. The dynamics of the cargo turnover of sea trade ports of the Black Sea region for 2005-2021 are given. The state and functioning of the private and public sectors of port business in Ukraine are analyzed. The dynamics of cargo turnover of private and state stevedoring enterprises in Ukraine for 2013-2021 is presented. The importance of the role of state ownership in the stevedore business in Ukraine, taking into account the state of war, is emphasized. The importance of the functioning of the port and river infrastructure of Ukraine in ensuring food security in the world is emphasized. The work of port operators under the "Grain Agreement" was analyzed.Conclusion. Factors of effective functioning of transport enterprises are systematized. The information and logistics model is presented, which takes into account the conditions of adaptation of enterprises of the maritime and river industry to Ukraine, taking into account the state of war. The economic requirements of the positioning of the components of the transport infrastructure of Ukraine are taken into account, taking into account the negative impact of the external environment. The impact of the use of the principle of digitalization, "single window" on the efficiency of the positioning of logistics links of cargo delivery is emphasized. The need to expand the water area of the ports on the Danube River and develop the logistics of the ports of the Danube region to ensure the functional stability of the potential of the transport industry of Ukraine has been revealed.

A Study on The Quality Evaluation of General Medical Education in China: An Empirical Analysis Based on 36 Medical Schools

Context: In the context of a healthy China, promoting general medical education and improving its quality have become key measures to strengthen primary health services and meet health needs in China, and it is of great significance to evaluate the current situation and quality of general medical education in China. The existing literature mostly studies and evaluates general medical education from a single perspective, lacking a comprehensive, systematic and integrated evaluation of general medical education. Objective: This paper analyzes the current situation, quality and key factors affecting the quality of general medical education in China, and provides a reference for medical schools to improve the quality of general medical education. Methods: The questionnaire was administered to 5271 students from 36 medical schools in August 2021 using a whole sample method. SPSS 26.0 software was used to analyze the differences in variables among the groups using independent samples t-test and multiple regression analysis of the key factors affecting the quality of general medical education. Results: The mean value of students' evaluation of each question item of the course is 3.69-3.81. The teachers' teaching methods are diversified, but they neglect the cultivation of students' personality, and there are problems such as inaccurate positioning of training objectives and weak practical links. In addition, students rated the mean value of each question item of the general medicine faculty as 3.76-3.79. 95.9% of students with internship experience rated the internship process as generally satisfactory or above, but considered the number of general medicine practice sites insufficient. Curriculum (β=0.567, p=0.000) was a key factor influencing the quality of general medicine education from the student perspective. There were differences in the evaluation of the quality of general medical education in China by students from different types of universities (p<0.05). Conclusion: Students rate the current status and quality of general medicine education in China highly, and curriculum is a key factor affecting the quality of general medicine education from students' perspective. There are differences in the evaluation of the quality of general medical education in China by students from different types of universities. Quality improvement programs for general medical education should be designed in a hierarchical and categorical manner, and different measures should be taken for different types of medical schools to improve the quality of education.

Integrated nonlinear suboptimal control‐and‐estimator based on the state‐dependent differential Riccati equation approach

AbstractThis paper is devoted to the theory and application of a combined nonlinear suboptimal control and estimator based on the state‐dependent differential Riccati equation (SDDRE), aiming finite‐time tracking of manipulators that possess flexible joints. Though measuring the angular positions of links is possible for flexible joint manipulators (FJMs), it is not feasible to measure the changes in the position angles of actuators. In addition, the existence of measurement noise and the influence of unknown workspace disturbance are always unavoidable. Therefore, combining an estimator with a controller could result in full‐state feedback for the system. Designing the proposed integrated estimator algorithm includes two parts: The first part is the theoretical extension of the SDDRE approach expressed with nonlinear state variables and inputs of the system in a finite‐time horizon. In the second part, enhancing and upgrading software and hardware interface, the proposed procedure for FJMs is modeled and simulated. Then, the experimental implementation is applied in the online closed‐loop form.

Robust and Decoupled Position and Stiffness Control for Electrically-Driven Articulated Soft Robots

The control of articulated soft robots, i.e. robots with flexible joints and rigid links, presents a challenge due to their intrinsic elastic elements and nonlinear force-deflection dependency. This letter first proposes a discrete-time delayed unknown input-state observer based on a nominal robot model that reconstructs the total torque disturbance vector, resulting from the imperfect knowledge of the elastic torque characteristic, external torques, and other model uncertainties. Then, it introduces a robust controller, that actively compensates for the estimated uncertainty and allows bounded stability for the tracking of independent link position and joint stiffness reference signals. The convergence of the disturbance estimator and the overall system’s stability in closed loop is proven analytically, while the effectiveness of the proposed control design is first evaluated in simulations with respect to large uncertainty conditions, and then demonstrated through experiments on a real multi-degree-of-freedom articulated soft robot.

A feeder link planning method for total supply capability improvement of distribution network

This study proposes a new feeder link planning method for the distribution network, which can improve total supply capability (TSC). Feeder links are the key component of distribution networks. They are of great significance to the TSC of the distribution network. Therefore, it is necessary to reveal the influence rules of feeder links on TSC and then apply the rules in distribution network planning. First, the indices describing the position, scale, and efficiency of feeder links are defined. Second, the influence rules of feeder links on TSC are revealed. 1) When the feeder geometrical distribution is more balanced, the TSC is higher. 2) When the feeder link scale is larger, the TSC is higher. While for both (1) and (2), the TSC will remain unchanged after reaching a certain value. 3) There always exists an optimal construction order of feeder links, which can ensure the TSC is as high as possible in each planning stage. Third, based on the rules, a model and an algorithm of the feeder link planning are proposed. The method can find an optimal construction order of feeder links, which can ensure that the value of TSC is as high as possible in each feeder link planning stage. Finally, the proposed method is verified on an 8-substation-transformer case grid, which has shown that the proposed method has advantages in feeder link efficiency and feeder-distribution balancing, and especially the TSC can be improved in each planning stage than the traditional methods.

Continuous output feedback sliding mode control for underactuated flexible-joint robot

The tracking control based on output feedback for a category of flexible-joint robot (FJR) systems is investigated in this brief. Control performance of the systems is inevitably bearing the brunt of various unknown time-varying disturbances, which can be categorized to be matched and mismatched and generally cover internal parameter uncertainties, couplings, unmodelled dynamics, and external load or changing operating environments. To cope with these disturbances, the mismatched disturbances are first transferred to the matched ones by a flatness method, which eliminates the computational cost of estimating mismatched disturbances. Then, a generalized proportional integral observer (GPIO) is constructed to estimate the unavailable states and disturbances. By integrating the estimated disturbance and states provided by the GPIO, a novel dynamic sliding surface is constructed. Finally, a continuous sliding mode control (CSMC)-based output feedback control framework is further designed. The presented control strategy only requires link position information and is continuous, which can effectively reduce the chattering driven by the high-frequency switching item in the traditional SMC method. Asymptotic convergence of output tracking error is guaranteed by theoretical analysis under some mild conditions. Comparative tests on a two-link FJR verify the claimed control performance.

Design, modeling, and control of a variable stiffness elbow joint

New technological advances are changing the way robotics are designed for safe and dependable physical human–robot interaction and human-like prosthesis. Outstanding examples are the adoption of soft covers, compliant transmission elements, and motion control laws that allow compliant behavior in the event of collisions while preserving accuracy and performance during motion in free space. In this scenario, there is growing interest in variable stiffness actuators (VSAs). Herein, we present a new design of an anthropomorphic elbow VSA based on an architecture we developed previously. A robust dynamic feedback linearization algorithm is used to achieve simultaneous control of the output link position and stiffness. This actuation system makes use of two compliant transmission elements, characterized by a nonlinear relation between deflection and applied torque. Static feedback control algorithms have been proposed in literature considering purely elastic transmission; however, viscoelasticity is often observed in practice. This phenomenon may harm the performance of static feedback linearization algorithms, particularly in the case of trajectory tracking. To overcome this limitation, we propose a dynamic feedback linearization algorithm that explicitly considers the viscoelasticity of the transmission elements, and validate it through simulations and experimental studies. The results are compared with the static feedback case to showcase the improvement in trajectory tracking, even in the case of parameter uncertainty.

Kinematic diagram of the mechanism and algorithm for controlling the width of the indoor structure exhaust opening

The results of theoretical studies of the possibility of reducing the lack and excess of heat in the cultivation structure by substantiating the parameters and algorithm of the mechanism of real-time control width of the exhaust opening are presented. A kinematic diagram of a flat lever mechanism for controlling the width of the draft opening with a drive from an electric linear actuator has been developed. Dependences of the angle of inclination of the leading link of the mechanism and the width of the exhaust opening on the stroke of the actuator rod are determined. The maximum travel of the actuator rod is 225 mm, which allows you to change the width of the exhaust opening from 0 to 900 mm. In this case, the angle of the axis of the master link position sensor varies from 0 to 90 degrees. Based on the analysis of the operation process of the mechanism and the requirements of the plants to the ambient air temperature, an algorithm for controlling the width of the opening was developed, providing for three possible situations. As long as the air temperature meets the biological requirements of the plants, the width of the exhaust opening does not change. If the air temperature exceeds the upper limit, the width of the opening is increased by the value determined by the angle change step of the mechanism driving link. If the air temperature is less than the lower limit, the controller turns on the linear actuator to reduce the opening width. This ensures that the tilt angle of the master link changes by the step dA, which is set during the programming. Logic operators compare the current value of the angle of inclination of the master link with the calculated value and switch the actuator on and off. Thus, the proposed algorithm consistently approximates the state of the system to the optimum zone and reacts to the changes in external conditions.