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Analysis of inverse kinematics and trajectory errors in robotic arm motion
Full text linkThe object of research: Robot arm performance analysis 6 degrees freedom for automatic welding applications. Robot arm, built from 1010 aluminum, has six joints driven by motor stepper nema 23 and Nema 17 with various transmission systems to ensure proper movements. Controlled by the Arduino Mega 2560, this system integrates Stepper Motor Drivers, 24V Power Supplies, and rotary encoder for monitoring of real time connections.
Investigated problem: Analyze the inverse kinematics, trajectory planning, and capability process of a robotic arm for automated welding applications. Inaccuracy and trajectory errors in the movement of robot arm when doing automatic welding tasks. The transition from manual welding to the automatic system faces the main challenges in achieving precise movement control, especially in maintaining the stability and accuracy of the welding path. Although various studies have developed advanced and reverse kinematics approaches to optimize the movement of robot arm, there is still a difference between the simulation and experimental results in terms of position and end-effector orientation. Errors in the joint angle estimation and trajectory execution can cause deviations in the welding path, which affect the quality of welding joints and production efficiency.
The aim of this study was to analyze the inverse kinematics, trajectory planning, and capability process of a robotic arm for automated welding applications.
The main scientific results: It showed a difference between reversed kinematics solutions and simulations, with joint angular errors 2, 3, and 5 ranging from 0.98º -2.7º. The movement of the robot arm when welding is quite smooth, but there is still an average trajectory error of 2.25 mm on the X axis and 10.57 mm on the Y axis.
The area of practical use of the research results: The robotic welding systems by integrating inverse kinematics and trajectory planning algorithms with an Arduino 2560 microcontroller.
Innovative technological product: The developed are robot arm control systems with 6 freedom degrees of Arduino 2560, equipped with a rotary encoder sensor to increase the accuracy of movement. This system allows more precise path control through more optimal planning, so as to produce a more consistent and high-quality welding connection.
Scope of the innovative technological product: The automotive manufacturing industry, shipbuilding, and metal production that requires welding with a high precision level
The fast-follower advantage: leveraging intellectual property as driver of economic growth
Full text linkThe object of research. The research focuses on the factors driving the rapid growth in patent applications globally, with a particular emphasis on China’s patenting dynamics. It seeks to explore the economic mechanisms that enable a sustained increase in patent activity despite the significant costs of intellectual property (IP) development and maintenance. Additionally, the study highlights the role of the "fast follower" strategy and its interplay with the scale effects of large domestic markets in shaping such growth.
Investigated problem. Over the past two decades, the number of patent applications has surged, particularly in emerging economies such as China. However, this growth raises significant questions about sustainability. On one hand, IP creation and management demand substantial financial investment, while on the other, regions like China invest more in acquiring IP than they gain from selling it. This paradox is compounded by disparities in global patenting dynamics, where countries face challenges in balancing innovation-driven competitiveness with cost management. Moreover, understanding how this approach is scalable to markets with differing economic structures remains underexplored.
The main scientific results. This study proposes that China's strategy hinges on the "fast follower" model, emphasizing the acquisition of existing IP over conducting costly in-house R&D. The analysis demonstrates that leveraging vast domestic markets and reducing production costs create efficiencies that sustain patenting growth. Furthermore, by focusing on commercialization, rather than invention, this approach provides insights into optimizing IP management across different economies.
The area of practical use of the research results. The findings are applicable for policymakers, organizations, and economies aiming to enhance their IP strategies. By adopting targeted IP acquisition models and aligning innovation with market dynamics, entities can maximize their competitive positioning.
Innovative technological product. A framework for leveraging intellectual property commercialization using the fast-follower model, allowing firms to reduce R&D costs, capitalize on domestic market scale, and achieve sustainable innovation-driven growth.
Scope of the innovative technological product. The study’s insights are particularly relevant to industries where knowledge-intensive products dominate, such as electronics, telecommunications, and advanced manufacturin
Determination of the frequency of natural vibration of rubber shock absorbers during compression
Full text linkThe object of the research: The work used rubbers of different hardness, which are model samples for testing cylindrical shock absorbers with a coefficient of 0.42, which was carried out under compression on a laboratory stand.
Investigated problem: Determining the limits of operational loads of rubber shock absorbers is an important task in the development of methods for non-destructive testing of rubber shock absorbers. Therefore, the object of the study is the influence of the limit values of the parameters of rubber shock absorbers during compression to determine the frequency of their natural vibrations under harsh operating conditions. One of the most problematic issues is cylindrical shock absorbers with a shape factor of less than 1.0: where the height is much greater than the diameter.
The aim of the study is to establish the patterns of influence of the rubber shock absorber material, compression conditions and boundary conditions of atmospheric aging on the frequency of natural vibrations to determine their boundary conditions of operation.
The main scientific results: According to the indicators of relative deformation during compression, the use of rubber shock absorbers from the high hardness group is recommended for more severe load conditions during operation. Soft rubbers are characterized by increased relative deformation of the geometric size (height) of the shock absorber during compression, which, under increased loads, can lead to their destruction.
The results obtained on model samples can be verified on rubber shock absorbers manufactured in industrial conditions.
The area of practical use of the results of the study: The conducted studies allow creating methods for selecting rubber shock absorbers for certain operating conditions depending on its shape coefficient and to simulate aging in atmospheric conditions.
Innovative technological product: rubber shock absorber with increased operational reliability.
Scope of the innovative technological product: designed for vibration isolation of industrial equipment and engines
The impact of innovation and fintech on the banking business
Full text linkThe object of research. The study analyzes the impact of fintech innovations on the effectiveness of the functioning of the banking business and outlines the prospects for their further implementation in Ukraine, taking into account the EU experience.
Investigated problem. In the conditions of the spread of digitalization processes as a key factor of competitive advantages, the question of researching the introduction of fintech innovations into the banking sector of Ukraine, determining their impact on the effectiveness of the functioning of the banking business, and delineating further prospects for the digitalization of banking institutions' activities becomes relevant.
The main scientific results. The results of the study proved the existence of potential opportunities for expanding the innovative activity of the banking system of Ukraine. In recent years, there has been an intensification of the processes of digitalization of banking services. On the basis of a comparative analysis of the neobanks of Ukraine, their main advantages are outlined and prospective areas of activity expansion are substantiated. At the same time, problematic aspects in the implementation of digital technologies in the banking sector of Ukraine are identified, in particular, imperfect legislation in the field of digital technologies in neobanking and licensing of their activities, low level of financial literacy of the population, expensive initial investments. This requires further research into the possibilities of implementing the positive experience of the EU countries.
The area of practical use of research results. The results of the study can be used by banking institutions of Ukraine when justifying strategies for introducing fintech into their activities.
Innovative technological product. The results of the study made it possible to outline strategic directions for the introduction of digital technologies in the banking sector of Ukraine.
Scope of the innovative technological product. The results of the research concern the implementation of banking innovations
Improving technology for manufacturing casting case of truck clutch release cylinder
Full text linkThe object of research: Manufacturing technology of body castings for trucks using the example of a clutch release cylinder body made of gray cast iron with flake graphite EN-GJL-200.
Investigated problem: Finding ways to reduce the weight and size characteristics of cast parts.
The main scientific results: A mathematical model has been developed that has made it possible to determine the optimal compositions of alloying Cr/Ni – Cu/Ti complexes that ensure an increase in the grade of cast iron by increasing the tensile strength at elevated carbon contents. This makes it possible in the future to reduce the thickness of the walls of the castings, achieving a reduction in their weight and size characteristics
The area of practical use of the results of the study: Automotive industry in terms of technology for manufacturing cast parts for trucks
Innovative technological product: Improved technology for manufacturing the clutch release cylinder body due to optimization of melt technology and out-of-furnace processing allows for targeted selection of melt processing modes, ensuring an increase in the strength characteristics of cast iron for cast body parts, thereby moving from the EN-GJL-200 cast iron grade to the EN grade -GJL-250 and EN-GJL-300.
The scope of the innovative technological product: Foundries of engineering enterprises, in particular those producing trucks, in which iron castings are produce
Language planning in the context of complex multilingual schools
Full text linkObject of research: This article discusses language planning and multilingualism in complex environments such as in education.
Investigated problem: The failure in language-in-education policy has raised arguments about the approach that is applied by schools. Using a context-based approach it is argued that success in multilingual education is constrained by various micro, meso and macro factors, usually also referred to as immediate, proximal, and distal circumstances. These are based on language planning and policy.
The main scientific results: The research uses data from three different types of government/public schools. The study involved learners, teachers, parents’ representatives, principals and an educational official through interviews and observations. The study found that there were challenges in the implementation of a schools’ language policy based on different types of schools.
The area of practical use of the research results: The results benefits schools and policy makers since the study recommends a development of a holistic approach and a diversified model that will address specific contexts rather than using one-size-fits-all approach.
Innovative technological product: The language planning approaches in multilingual schools that are investigated in this study provide advise and relevant innovative methods to policy makers, teachers, and parents. There will be an improvement in various learning settings and schools.
Scope of the innovative technological product: The development of Language-in-education policy in 1996 provided a new outlook in language learning and teaching approach in schools. This has created grounds to produce aligned language policies by schools to give effect to the democratic constitution of the country and to provide the choice of language of learning by learners. This shows how the policy is conceptualized and implemented in a multilingual school environment such as in South Afric
Development of a method for increasing the efficiency of decision-making in special purpose systems
Full text linkThe object of the research is special purpose systems.
Investigated problem: The experience of operations (combat operations) of recent years shows the growing role of information influence measures on the systems of collection, processing and transmission of special purpose information and decision-making officials.
The main scientific results: The specificity of measures to ensure the information security of the state is that, on the one hand, it is necessary to solve the task of collecting, processing and transmitting information, and on the other hand, it is necessary to counteract measures of information influence on the systems of collecting, processing and transmitting information and decision-making officials.
Victory over a quantitatively superior opponent is possible only if there is a technological advantage over it. One of such technological approaches is the use by the defense forces of Ukraine of the concept of the Internet of Things (IoT)
The essence of this concept involves the use of a large number of sensors, sensors, unmanned aerial vehicles, as well as other technical means (tablets, communication means) combined into a single network, which are united by a common goal of functioning.
The area of practical use of the research results: It is advisable to use the proposed scientific results when conducting research and development works on the creation of intelligent systems for collecting, processing and analyzing information about the special purpose systems, and developing requirements for hardware and software of this type of systems.
Innovative technological product: the proposed method is recommended to be used as part of the software of special-purpose systems. This method is advisable to apply at the stage of assessing the state of special-purpose systems and further making managerial decisions by the persons taking them. Also, the proposed method should be incorporated as an integral part of decision support systems at the stage of analyzing the state of complex technical systems.
Field of application: software, special purpose systems, decision support systems
Primary tuberculosis of the breast from mankweng hospital
Full text linkObject of study: To share our experience with a rare case of Primary Tuberculosis of Breast.
The problem to be solved: Tuberculosis of the breast is a rare type of extrapulmonary tuberculosis and usually affects young lactating multiparous women. It accounts for less than 0.1 % of all breast pathologies. Tuberculosis of the breast is often misdiagnosed. Therefore, a high index of suspicion is needed when evaluating cases of breast abscesses, fistulae, or mass.
Main scientific results: A case of a 27-year-old female with no known co-morbidities, HIV negative who presented to our Surgical Outpatient Department with a 1-year history of a painless left breast lump. No previous history of pulmonary tuberculosis was reported. Breasts ultrasonography indicated BIRADS (Breast Imaging-Reporting and Data System) V: lesion highly suspicious of malignancy. Histopathological analysis of the core biopsy showed features of a necrotizing granulomatous mastitis with adjacent fat necrosis. Ziehl-Neelsen stain was negative though histological results were worrisome of a mycobacterial infection. Patient responded well to antitubercular therapy as evidenced by lump regression, ulceration healed, peau d’orage currently resolved, and the overall size of the breast is going back to its normal state.
The area of practical use of research results: Family medicine physicians, Primary health care center, District level or regional level hospital.
An innovative technological product: a high index of suspicion tuberculosis is needed when evaluating cases of breast abscesses, fistulae, or mass. Awareness of this condition is important as it can clinically, and radiologically mimic breast carcinoma.
Scope of application of an innovative technological product: Family medicine physicians, Primary health care center
Developing a methodological approach to assessing state information security
Full text linkThe object of the research is the system of information security of the state.
Investigated problem: The experience of operations (combat operations) of recent years shows the growing role of information influence measures on the systems of collection, processing and transmission of special purpose information and decision-making officials.
The specificity of measures to ensure the information security of the state is that, on the one hand, it is necessary to solve the task of collecting, processing and transmitting information, and on the other hand, it is necessary to counteract measures of information influence on the systems of collecting, processing and transmitting information and decision-making officials.
Given this, information attacks have become a real threat and are one of the priority problems of national security and risk management. Information security covers all security measures that can be taken to protect against these impacts. A significant increase in the complexity and intensity of information attacks in recent years has forced most developed countries to strengthen their defenses and adopt national information security strategies.
The area of practical use of the research results: It is advisable to use the proposed scientific results when conducting research and development works on the creation of intelligent systems for collecting, processing and analyzing information about the state of information security of the state, and developing requirements for hardware and software of this type of systems.
Field of application: software, information systems, decision support systems
The concept of building security of the network with elements of the semiotic approach
Full text linkThe object of research: First, to identify and discuss the security problems of cyber-physical systems associated with the emergence of qualitatively new technologies and qualitatively new affordable artificial intelligence software. Secondly, building the concept of the security structure of a cyber-physical system based on the Zero Trust Security approach. Creation of a new secure load transfer structure based on the semiotic approach.
Investigated problem: Information system security problems continue to cause significant costs and damage to organizations. Sustainability requires comprehensive and integrated security platforms that reach customers, whether they work at headquarters, in a branch office, or individually from random touchpoints.
The main scientific results: the concept of a structured protection system with the Zero Trust Security approach has been developed. The structure of the semiotic analysis of the segmentation of the transmitted load on the blocks is proposed. Blocks by signs are subjected to individual analysis. According to the features, the blocks are transformed by the selected representation into an object/groups of objects. Groups for transmission in the load are tagged, have different coding severity (depth), depending on the risk assessment. Groups are transmitted through the network in different ways (paths) – VPN (different ESP), unencrypted tunnel, open access, etc.
This solution improves the throughput of malicious load analysis prior to transmission. The performance overhead for encoding/decoding the load and encapsulating/de-encapsulating during transmission is reduced. The transmission bandwidth is increased.
The area of practical use of the research results: businesses requiring secure access to on-premise resources and mission-critical cloud environments. Organizations using employees in distributed networks. Specialists in the deployment and analysis of the protection of cyber-physical systems.
Innovative technological product: The semiotic security concept extends the zero-trust security model, which focuses on protecting network traffic within and between organizations. This concept uses load traffic segmentation, which combines an advanced analysis and transfer load transformation framework.
This concept provides for integration with other cybersecurity technologies such as endpoint discovery and response (EDR) and security information and event management (SIEM) to provide a more comprehensive security solution.
This solution improves the throughput of malicious load analysis prior to transmission. Reduced performance resources for encode/decode load and encapsulate/deencapsulate in transit.
Scope of the innovative technological product: this concept can be applied to enterprises that already have some elements of zero trust in their corporate infrastructure, but cannot strictly control the state of the requested assets, are limited in implementing security policies for certain classes of users. This deployment model can also be applied to enterprises that use cloud services for individual business processes.
It can be useful for researchers and administrators in the development of corporate cybersecurity plans, which uses the concepts of zero-trust and covers relationships between components, workflow planning, and access policies