Realization Of Tasks Research Articles

An advanced machining robot flexible programming methodology supported by verification in a virtual environment

ABSTRACT The solutions for robot offline programming use different programming environments to facilitate the deployment of robots in machining tasks with the development of specific postprocessors. There is no easy exchange of data between programming software to realise robot machining tasks. This paper presents a flexible programming methodology using several interchange file formats that can be easily exchanged between different CAD, CAD/CAM, or specialised robot programming software. Integrating the standard programming based on CAD, CAD/CAM systems, and STEP-NC protocol through different output files enables data interoperability during the realisation of the robot machining tasks. The developed methodology is proposed for executing programming, verification supported by a virtual environment, postprocessing, and machining by industrial robots. It uses the software for programming machine tools and adapts them to the specifics of robots and their programming languages using a developed postprocessor. The presented methodology enables the programming of robots for 2.5 to 5-axis machining tasks depending on the neutral file format used. Programming verification was realised, first, by simulation on configured virtual robots and developed robot native language editor and, second, by machining on the available robots. These experiments include different contours and shapes and file formats, which show the programming’s reliability and accuracy.

A flexible programming and verification methodology for reconfigurable CNC woodworking machine

An advanced flexible programming methodology for CNC woodworking machines was developed. As the research starting base, a three-axis CNC woodworking machine was used. The developed methodology is proposed for programming, simulation, postprocessing, and machining by woodworking machine. This flexible programming method integrates the standard programming based on CAD, CAD/CAM systems, and STEP-NC protocol through different output files, enabling data interoperability during the realization of the machining tasks. The control system for the machine is configured based on the open-architecture software LinuxCNC to verify the flexible programming method and the results obtained. Programming verification was realized by simulation on a configured virtual machine in different programming environments and finally on a virtual machine integrated with the control system. The results obtained from the study were evaluated comparatively.

Key Aspects of the Integration of the Donetsk People’s Republic into the Economic Space of the Russian Federation

The article considers the problems of integration of the new region - Donetsk People’s Republic into the economic field of the Russian Federation. The main tasks to be solved in the liberated territories are given. It is suggested to form a state programme aimed at solving these problems. It is revealed that one of the key problems limiting further economic growth, along with the ongoing military operations, is the outflow of able-bodied population. As a strategic goal of socio-economic development of the Republic for the next 10 years, it is proposed to restore infrastructure, modernize industry and structural reform of the economy, increase the population, as well as the quality and duration of life. To achieve this goal, three directions are considered: formation and accumulation of human capital; creation of space for human capital development; creation of appropriate economic environment. The stages for the realization of goals and tasks have been identified. It has been determined that industry should form the basis of the economy of the reviving Donbas. It is necessary to develop manufacturing industries, knowledgeintensive and complex production. It is of fundamental importance to improve the quality of economic growth - to build and move along the supply and value chains from the first links, with a low specific weight of added value in the price of goods, to the next links, with a higher specific weight of added value. Priority sectors of the Republic are identified. It was noted that the activation of economic development cannot be carried out without reforming the existing system of state administration in the Republic. An important task is to transfer the functioning of public authorities to the technology of strategic and programme-target planning and budgeting.

Project-Based Learning Model: Its Implication in The Initial Training of Mathematics Teachers

Objective: The objective of the study was to analyze the benefits of a study curriculum under the competency-based approach and to analyze the implications of the implementation of the project-based learning model in the initial training of mathematics teachers in the context of university higher education. Theoretical Framework: The concepts related to the project-based learning model, its characteristics, its phases and educational competencies in the twenty-first century are systematically addressed. The relevance of the curriculum under the competency approach in university education is also analyzed from a critical perspective. Method: The research approach was mixed, non-experimental design, 30 teachers and 54 students in initial training for mathematics teachers participated in the study; the data were collected through a Likert questionnaire, the analysis and interpretation of the results was carried out with the Minitab software, complemented with the information from the semi-structured interview applied to the teachers. Results and Discussion: On average, more than 77% of teachers and more than 72% of students who attended the study have a favorable opinion about the implementation of project-based learning (PBL) in university education; therefore, it favors and strengthens the development of mathematical skills and competencies in the initial training of mathematics teachers based on the realization of mathematicsof tasks and problem solving through collaborative activities for efficient learning of mathematical concepts and procedures. Research Implications: This research highlights the importance of the project-based learning model from the theoretical and practical perspective of competency-based curricular implementation. Theoretically, the concepts of project-based learning are deepened and contextualized, while the practical implication translates into collaborative work between students and the teacher in problem solving. Originality/Value: The findings value the PBL model as a viable alternative for the efficient initial training of secondary school mathematics teachers, with a broad mastery of conceptual, procedural and digital technology knowledge in problem solving.

Russian mutual insurance market: Limitations for development

Aim. To assess the practical significance of the possible implementation of some proposals aimed at the development of the insurance market, based on the analysis of statistical data on the activities of insurance organizations and mutual insurance societies, particularly in the field of insurance of civil liability of notaries.Objectives. With the help of statistical data on the activity of insurance organizations and mutual insurance societies to identify the practical significance of the initiative and its impact on the development of mutual insurers in the insurance industry.Methods. The present study is built on the basis of empirical methods such as observation, comparison, generalization, induction, deduction.Results. The authors analyzed the activity of insurance companies in 2023 in the aspect of insurance organizations and mutual insurance societies, including the impact and significance of the type of insurance of civil liability of notaries on the insurance industry. Taking into account the actually full coverage of notaries by insurance services required by law, there are no problems in the conclusion and execution of these insurance contracts, according to the author’s position. The presence of an insignificant number of insurance organizations in this segment and small volumes of premiums in relation to the total premium collections indicate a low interest of insurers in this type of insurance. Today the market of compulsory insurance of notaries is actually covered and closed for new players. The authors believe that admission of mutual insurers to this segment will not practically lead to the development of mutual insurance and improvement of the insurance market as a whole.Conclusions. Despite the tasks set by supervisory and regulatory authorities to strengthen and develop the insurance market, the initiatives put forward to modernize the mutual insurance market are noteworthy and are certainly important, timely, but insufficient for the realization of the set tasks. The authors conclude that the admission of mutual insurers only to the market of notaries’ liability insurance will not be a significant stimulus for the development of mutual insurance and improvement of the Russian insurance market.

Scaling in Deep and Shallow Learning Architectures

The realization of classification tasks using deep learning is a primary goal of artificial intelligence; however, its possible universal behavior remains unexplored. Herein, we demonstrate a scaling behavior for the test error, ϵ, as a function of the number of classified labels, K. For trained utmost deep architectures on CIFAR-100 ϵ(K)∝Kρ with ρ∼1, and in case of reduced deep architectures, ρ continuously decreases until a crossover to ϵ(K)∝log(K) is observed for shallow architectures. A similar crossover is observed for shallow architectures, where the number of filters in the convolutional layers is proportionally increased. This unified the scaling behavior of deep and shallow architectures, which yields a reduced latency method. The dependence of Δϵ/ΔK on the trained architecture is expected to be crucial in learning scenarios involving dynamic number of labels.

Research on Probity Culture into Practical Teaching of Ideological and Political Theory Course in Colleges and Universities

The integrity literacy of young college students is related to their future development, and the integration of the culture of integrity into the practical teaching of ideological and political theory courses helps to give full play to the function of educating people, and promotes the realization of the fundamental task of establishing morality and educating people. Based on the status quo of the practical teaching of ideological and political theory courses in colleges and universities, this paper puts forward suggestions on the implementation path from the aspects of practical teaching content and methods, realizes the isomorphism between clean and honest construction and ideological and political education, and improves the quality of talent cultivation while passing on the clean and honest culture to promote the construction of clean and honest.

Updating the Content of Bookkeeping Method in Conditions of Regulatory Framework Reorganization and On-Going Digitalization of Accounting in Russia

The article tries to substantiate the extension of the list of accounting methods, which make up the method of current bookkeeping. Focus is not made on specifying content of the present and established in practice ways of accounting but on insertion in the list such elements of the method that foster realization of tasks facing the current accounting within the frames of informational support of management and outward control. At the same time these elements of the method were not taken into consideration in the regulatory framework. According to the author, extension of the list of elements of bookkeeping methods can build a frame for shaping the home regulatory framework in bookkeeping. Reorganization of Russian accounting rules (standards), which can be traced lately, demonstrates timeliness of introduction of new approaches to elaborating the system of enactments. Insertion in the list of key issues liable to regulation of matters of methodology underlines the importance of the principle of content priority over form. It can help adjust regulatory framework in accordance with procedure and technological principle. The author put forward methodology, which can be applied to any type of objective accounting.

Global Experience in the Use of Unmanned Aviation Technologies in Public Administration: a Review

TUnmanned Aerial Systems (UAS), despite their relative novelty, are already an integral component of the general aviation structure, and, based on a number of complex and sophisticated solutions, including those related to artificial intelligence, are part of the spectrum of high technologies. UAS find application not only in the sphere of commerce, but also in the realisation of specific tasks of public administration, such as territory management, healthcare, emergency prevention and elimination, ensuring environmental safety and law and order, nature management. The purpose of the study, the results of which are presented in this publication, is to assess the current state and potential of the use of UAS in these areas based on a review of literature sources on the practice of their application in order to solve the tasks of public administration in different countries of the world. The main conclusion drawn from the analysis and characterising the general scientific novelty of the study is that, despite a significant number of specific examples, the breadth of UAS use range can be characterised as imaginary. The main and the only really significant application is various types of aerial survey in the interests of state control and supervision bodies. In the course of the work, a number of promising directions for the use of UAS have been identified. It is also noted that their wider implementation in the practice of public administration is hindered by the lack and/or imperfection of the relevant legal framework, typical for most legislative systems of the world, and postulates the need to actively address these issues in relation to the classification and certification of UAS, requirements for their operators and software, the procedure and rules of operation, the integration of unmanned aircraft (UAS) into the existing air traffic management system.

Dimensions of freedom of Ukrainian art in the late 80s and early 90s of the 20th century and their manifestation in artistic associations of that time

The relevance of the research topic lies in the insufficient study of such a period of Ukrainian art as the turn of the 1980s and early 1990s, when banned artists came out of the underground, taking advantage of the weakening of the ideological pressure of the Soviet system, and led powerful artistic movements involved in the formation of dimensions of free creativity. The purpose of the work is to clarify the conditions for the development of Ukrainian art at the turn of the 80s and 90s of the 20th century, and to highlight the importance of creative associations in the process of artists’ realisation of new tasks in the emerging continuum of freedom (on the example of the associations “The Way” and “The Strontium-90”). The methodological apparatus of the study consists of three stages (preparatory, research and synthesising) using the following methods: analysis of literary and scientific sources, dialectical method in the emergence of a new phenomenon, method of logical analysis, method of critical and comparative analysis, synergistic method, generalisation, method of hypothesis and forecasting. The study found that at the end of the 1980s, under the influence of the Chornobyl disaster, Ukrainian “unofficial” art left the status of marginal, and its representatives became the forerunners of a new free creative continuum. The artists of the new generation, using the neo-avant-garde experience of their colleagues and the factor of freedom of expression, strive to use the latest creative practices, which has connected them to the global artistic space. The study argues that neo-mythologism, as one of the main principles of world art of the second half of the 20th century, at the turn of the 1980s and 1990s became decisive in the process of creating a free artistic continuum. This principle led to the most individualised figurative system of expression of Ukrainian artists of the new generation. The paper examines two artistic associations, “The Way” and “Strontium-90”, and their role in shaping the Ukrainian free creative continuum. The practical significance of the study lies in the use of the results in the creation of recommendations and methodological guides on the history of Ukrainian art of the 20th and 21st centuries and gallery business

Специфика использования местоимений в татароязычных и англоязычных рекламных слоганах

The aim of the study is to determine the functional capabilities of pronouns that contribute to the realization of a pragmatic task in Tatar-language and English-language advertising slogans. The paper considers two categories, i.e., the first- and second-person personal and possessive pronouns, since they are used to denote a specific addressee of advertising and the manufacturer of goods or services. The study is novel in that it is the first to consider the specifics of using pronouns in advertising slogans with pragmatic potential in a comparative aspect, which will make it possible to identify and systematize differences and similarities in the use of linguistic means in the context of advertising in languages with different structures. As a result of the study, it was found that pronouns in advertising texts perform several functions: targeting a specific addressee, indicating the source of the advertising message, establishing links between the consumer and the manufacturer of advertising products. At the same time, in Tatar advertising slogans, the socio-expressive function of the pronouns ‘син’ (singular ‘you’) and ‘сез’ (plural ‘you’) is easily determined, while in English the absence of the singular ‘you’ / plural ‘you’ difference is not an indicator of formality or informality.

Dual-Event-Triggered Intelligence Security Control for Multiagent Systems Against DoS Attacks With Applications in Mobile Robot Systems

The intelligence security control problem of multiagent systems in the presence of actuator faults is investigated against denial-of-service (DoS) attacks. Noticing that the DoS attacks usually make the actuator signal not available for distributed control protocols, a novel intelligence dual-eventtriggered control strategy is developed to eliminate the impact of DoS attacks. This control strategy includes two related event triggers respectively set on different channels, in which the second event-triggered condition is related to the triggering sequence of the previous event. Through the coordination between two nested event triggers set on different channels, the controller is avoided by being affected by wrong signals caused by DoS attacks. The developed distributed control protocol can not only guarantee the realization of the tracking control task but also ensure that no ‘Zeno behavior” occurs in the process of the event triggering. Moreover, the obtained results are applied to the mobile robot systems. Finally, a numerical simulation example and a mobile robot system application are given to verify the feasibility and effectiveness of the proposed control strategy.

GEORGIAN TAX POLICY AND INTERNATIONAL EXPERIENCE

The tax system and the country's tax policy are one of the strong guarantees of Georgia's economic and financial security. Taxes and the country's tax policy are an organic part of the state's economic policy and economic relations and ensure the country's economic and financial success. Sound tax policy and sharing of international experience of leading countries determine the country's economic and financial balance and stability.
 The main goal of the work is to study and analyze the formation of a perfect tax system and tax policy, taking into account the best international experience.
 World practice confirms that the formation of a perfect tax system and tax policy is a continuous and constantly changing and renewing process. The tax policy is shaped not only by the changing challenges and tasks facing the country, but also in accordance with the various events taking place in the world economy and politics. The main challenge of the state in the field of taxation is to select such a golden middle of tax policy, tax rates and tax administration, which ensures, on the one hand, the regulation of the challenges facing the country's tax policy, as well as the realization of various tasks facing the state finances, stimulation of economic growth and harmonization with the best international experience.

ZMP — Where Are We After Fifty-Five Years?

Twenty years ago in the first issue of IJHR, among others, there was a published paper [M. Vukobratović and B. Borovac, Zero-moment point — Thirty five years of its life, Int. J. Humanoid Robot. 1(1) (2004) 157–173], devoted to well-known zero-moment point (ZMP) concept. Its role in biped locomotion (in the preservation of dynamic balance during walking and gait synthesis) was (and still is) extremely significant. This paper is aimed to present, how far we have gone in the past 20 years in the realization of bipedal walking, what are remaining open challenges and what we can expect in the further development. At the beginning of the paper, we will briefly refer to some still existing misinterpretations of the ZMP notion, related to specific boundary cases, when the terms Center of Pressure (CoP) and ZMP are still being mixed. Then, we will point your attention to the discussion of two important issues: attempts of generalization of ZMP notion in case of motion in the presence of multiple, spatially distributed and non-planar contacts and walk realization in a non-laboratory environment (unstructured environment and on the non-flat ground surface). Of course, looking at “how humans do it” has always been an inspiration for the realization of complex tasks by humanoids. Learning to walk is a task where several successful realizations have appeared only recently, so we will look at this topic at the end of this paper.

The structure of the polymodel complex for modeling the operation of the lubrication system of an internal combustion engineThe paper presents the structure of the polymodel complex for modeling the operation of the lubrication system of an internal combu

The paper presents the structure of the polymodel complex for modeling the operation of the lubrication system of an internal combustion engine with a pneumohydroaccumulator, outlines the general requirements for the composition of this model complex. The ways of solution for realization of component models and tasks of application of the given polymodel complex at estimation of efficiency of lubrication systems of internal combustion engines with pneumohydroaccumulator, for application at realization of urban passenger transportation are defined. Keywords internal combustion engine, pneumohydroaccumulator, lubrication system, polymodel complex, modeling

Optimal Task and Motion Planning and Execution for Multiagent Systems in Dynamic Environments.

Combining symbolic and geometric reasoning in multiagent systems is a challenging task that involves planning, scheduling, and synchronization problems. Existing works overlooked the variability of task duration and geometric feasibility intrinsic to these systems because of the interaction between agents and the environment. We propose a combined task and motion planning approach to optimize the sequencing, assignment, and execution of tasks under temporal and spatial variability. The framework relies on decoupling tasks and actions, where an action is one possible geometric realization of a symbolic task. At the task level, timeline-based planning deals with temporal constraints, duration variability, and synergic assignment of tasks. At the action level, online motion planning plans for the actual movements dealing with environmental changes. We demonstrate the approach's effectiveness in a collaborative manufacturing scenario, in which a robotic arm and a human worker shall assemble a mosaic in the shortest time possible. Compared with existing works, our approach applies to a broader range of applications and reduces the execution time of the process.

КОМУНІКАЦІЙНА СКЛАДОВА У СИСТЕМІ УПРАВЛІННЯ ПЕРСОНАЛОМ

The study depicts the role and place of the communication component in a personnel management system through a synthesis of communication management, communication culture and communication competency. The author emphasizes the structural autonomy of communication management and its simultaneous presence in the personnel management system due to the multifaceted nature of its functions and substantive content. It is indicated that the communication component is a connecting link of staff management and an instrument for implementing staff policies in every organization. The article allocates functions of communication management and describes directions of their appearance in the system of personnel management with the aim of ensuring communication policy, formation of effective tactics and strategy of communication interaction, coordination of efforts for realisation of corporate tasks. The article formulates the main vectors of influence of communication culture on the formation of corporate ethical and moral norm-setting, maintenance of emotional and psychological stability of personnel, and strengthening of team unity based on corporate values. The author identifies in the structure of communication competence communication knowledge, communication abilities, skills and abilities necessary to ensure the professional level, quality of communication processes in the organisation, and rapid adaptation to changes. The author notes the interconnection of communication strategy and personnel policy on the basis of common tasks and principles of construction, among which the principles of value selection, truthfulness, human-centredness, efficiency and effectiveness are highlighted. These basic principles are important guidelines for the communication strategy and HR policy aimed at a strategic vision of the organization’s development in different circumstances, raising awareness of the team and stakeholders in creating socio-economic recovery and modernization projects. The author emphasizes the problems of communication in times of war (technical, psychological, financial) and the need to update the communication strategy in order to preserve human resources and further develop the intellectual potential of organizations.

Етнолингвистични елементи на турската култура в туристическия дискурс

The modern era of intensive communication between people is characterized by the growth of the realization of specific communicative tasks through certain texts aimed at communicating and receiving certain information through language. The texts in these cases become mediators between communicators, while at the same time representing a source of information. One of these areas is tourism discourse. The present study is an attempt to discover some ethnolinguistic elements of Turkish culture in tourist discourse such as names of tourist sites associated with legends and names of foods typical of Turkish cuisine. Specification of the concepts of ethnolinguistics, tourism and discourse, the place of ethnolinguistic elements of Turkish culture in tourism discourse and speech influence and interaction of communicants in close connection with practical human activity in tourism discourse.

MANAGEMENT OF THE EDUCATIONAL PROCESS ORGANIZATION MUNICIPAL INSTITUTION "POLTAVA REGIONAL CENTER OF NATIONAL PATRIOTIC EDUCATION, TOURISM AND LOCAL HISTORY OF STUDENTS OF POLTAVA REGIONAL COUNCIL" UNDER MARTIAL LAW

The article analyzes the management of the educational process of institutions of out-of-school education under martial law. On the example of the educational activity of the Municipal Institution "Poltava Regional Center for National Patriotic Education, Tourism and Local History of Students of the Poltava Regional Council," a purposeful process and result of training, education, development and socialization of the individual are described, aimed at strengthening patriotic values, beliefs and respect for the cultural and historical past of Ukraine in the consciousness and feelings of the individual. Priority directions of activity and ways of realization of certain tasks are defined. The mechanisms of cooperation of the institution with institutions of general secondary, out-of-school and professional (vocational) education, especially the involvement of students among internally displaced persons in the educational process are described.
 Currently, in the Poltava region, considerable attention is paid to national and patriotic education. Powerful work is being done on the formation of a high patriotic consciousness, a sense of loyalty, love for the Motherland, concern for the well-being of one's people, readiness to fulfill the civic and constitutional duty to protect the national interests, integrity, independence of Ukraine in the young generation, promoting its establishment as a legal, democratic, social state. The most important priority of national-patriotic education is the formation of a valuable attitude of the individual towards the Ukrainian people, the Motherland, the state, and the nation.

Autonomous navigation method of jujube catch-and-shake harvesting robot based on convolutional neural networks

Autonomous navigation of agricultural devices plays an indispensable step for the realization of various field intelligent operation tasks. However, the accurate extraction of navigation path is still a challenging task due to the complex orchard environment with many interference factors. To cope with the challenge, a low-cost vision system based on convolutional neural network and machine learning algorithm is proposed to obtain accurate navigation path for autonomous path detection of catch-and-shake harvesting robot under winter jujube orchard. In the vision system, firstly, an improved light-weight YOLOX-Nano architecture with some tricks including CSP attention block, SPPCSPC-F and ASFF is proposed to detect root points of jujube tree. Results show that the mAP of our model is 84.08 % and model size is only 12.30 MB, which can meet the requirements of embedded deployment. Secondly, a K-means clustering algorithm is applied to divide root points into two classes which belong to left and right tree row. Finally, the navigation line can be determined by geometric relations and least squares. The experimental results showed that the navigation centerline mean pixel errors and average heading angle deviation are 4.49 pixels and 2.55°, respectively. Therefore, this method can provide a new theoretical basis and technical reference for autonomous navigation of winter jujube catch-and-shake harvesting robots.