a:2:{s:4:"TYPE";s:4:"TEXT";s:4:"TEXT";s:74:"Yu. N. Zolotukhin, K. Yu. Kotov, A. S. Mal’tsev, A. A. Nesterov, A. P. Yan";}
Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: flight speed control system, structural synthesis of nonlinear automatic systems
In this paper we address the problem of velocity vector control of aircraft in the flight path axis system. The development of an automatic flight path control system requires reaching a desired flight speed with coordinated control of rudders and engine thrust. For that purpose the nonlinear controller based on method of structural synthesis is built. Simulation results of the complete closed-loop system demonstrate the effectiveness of the proposed approach.
S. A. Belokon1, D. S. Derishev2, Yu. N. Zolotukhin1, K. Yu. Kotov1, A. S. Maltsev1 1Institute of Automation and Electrometry, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia 2Joint Stock Company "NovosibNIAT", Novosibirsk, Russia
Keywords: hardware-in-the-loop simulation, flight tests, attitude and heading reference system, ground control station, aircrew training
In this paper the developed and implemented software and hardware complex for flight experiments is presented. The complex ensures operation in the hardware-in-the-loop simulation mode, aircraft crew training mode, and ground control station mode. The purpose and functional features of each of the operating modes of the complex are highlighted. The results of research performed by using the developed complex by an example of a remotely controlled aircraft - a flying laboratory - are presented.
E. Ya. Rapoport, Yu. E. Pleshivtseva
Samara State Technical University, Samara, Russia
Keywords: systems with distributed parameters, energy-efficiency, programmed control, alternance method, synthesis of the optimal control, optimal controller
A constructive method for synthesizing the optimal energy-efficient control for distributed parameter systems with a given-precision uniform approximation of the space distribution of the controlled variable with respect to the desired state is proposed. This approach is based on the earlier developed alternance method for constructing optimal open-loop control algorithms. It is shown that the optimal controller equations are reduced to linear output feedback equations with time-dependent coefficients that are calculated based on incomplete measurements of the state of the system. The transmission factors here are known functions of time and final values of the controlled parameter determined by preliminary calculations of the programmed control.
O. A. Votrina, K. N. Meleshkin, G. A. Frantsuzova
Novosibirsk State Technical University, Novosibirsk, Russia
Keywords: Double inverted pendulum on a cart, stabilization system, sliding mode, controller synthesis, state estimation filter
In this paper the procedure of the controller synthesis for a linearized system “double inverted pendulum on a cart” based on the sliding modes technique is described. The main peculiarity of this method is the two-stage controller calculation. At the first stage, the canonical basis transformation of the model object is performed, and the control algorithm is organized in the form of a function of canonical variables. At the second stage, the controller definition related to the initial basis is obtained via the inverse transformation of variables. As the direct measurement of several internal variables for the type of the object under research is possible, it is needed to estimate the remaining object variables for the controller implementation. The use of several state estimation filters of the same kind is proposed for this purpose, which allows definition of the entire state vector, although only some of state variables can be measured directly. The calculated controller ensures pendulum stabilization in the upper position with the low value of angle deviation from the vertical. The results of the numerical simulation of the system with the help of the MatLab Simulink integrated environment illustrate the main properties of the system.
V. D. Yurkevich
Novosibirsk State Technical University, Novosibirsk, Russia
Keywords: control, proportional-integral resonant (PIR) controller, time-scale separation method, internal model principle
A modified structure of a proportional-integral resonant (PIR) controller and a method of adjusting its parameters are considered. It is shown that application of the time-scale separation method allows selection of the proportional-integral component of the controller independently from selection of the parameters of the resonant components of the controller. The proposed approach to calculation of the controller parameters allows providing robust perfect tracking and disturbance rejection in the presence of plant model uncertainties and harmonic disturbances. The results of numerical modeling are also reported.
A. B. Filimonov1,2, N. B. Filimonov3,4 1MIREA - Russian Technological University, Moscow, Russia 2Moscow Aviation Institute, Moscow, Russia 3Lomonosov Moscow State University, Moscow, Russia 4Trapeznikov Institute of Control Problems, Russian Academy of Sciences, Moscow, Russia
Keywords: mobile robots, artificial potential fields, field lines of force, trajectory control
In the well-known publications devoted to the method of potential fields in mobile robotics, the key importance is attached to the mechanism of force influence on the movement of the robot, which determines the law of change in the speed of its movement. In this article, a new methodology for using virtual fields is proposed: the force aspect is excluded, and the lines of intensity of the generated field define only the desired trajectories of the robot movement, and following a given trajectory is ensured by a two-contour control system for the direction and speed of the robot movement. The question of constructing attracting and repulsive potentials is discussed. The results of the simulation of the trajectory control of a two-wheeled robot are presented.
M. B. Bardamova, I. A. Hodashinsky
Tomsk State University of Control Systems and Radioelectronics, Tomsk, Russia
Keywords: fuzzy classifier, shuffled frog leaping algorithm, fuzzy classifier structure, imbalanced data
The paper proposes a way to apply the shuffled frog leaping algorithm as a tool to expand a rule base of the fuzzy classifier. Its application is relevant in the case where the existing rules are not sufficient for the qualitative recognition of all classes, for example, in the presence of data imbalance. Additional rules generated by metaheuristics are able not only to improve the classification quality, but also to provide a more complete description of the domain under study. To create a compact initial structure of the classifier, the algorithm based on extreme values of features in classes is used. The combination under consideration is tested on 36 imbalanced datasets from the Knowledge Extraction based on Evolutionary Learning repository and showed an increase in the mean geometric accuracy on 34 datasets, as well as satisfactory results compared to analogs. The advantages of the proposed algorithm of structure formation are the absence of the necessity of data augmenting with synthetic samples, low scatter of results in individual runs, and the ability to improve the classification quality by adding a few rules.
Yu. F. Mukhopad1, A. Yu. Mukhopad1, D. C. Punsik-Namzhilov2, A. S. Manikovskyi3 1Irkutsk State Transport University, Irkutsk, Russia 2Open company "Sibproekt", Tomsk, Russia 3Zabaykalsky Institute of Railway Transport, Chita, Russia
Keywords: information and measurement systems, control automata, synthesis of automata
In order to reduce the complexity of combinational schemes, a new methodology for synthesizing control automata is proposed, based on entering a limited number of empty operators into the control graph scheme and three ways to organize the address subsystem: by entering a state counter and unitary encoding, entering a multiplexer into the control automaton structure to select the address of one logical condition from the entire set {α}, and entering an address block consisting of q two-input elements "And," one "OR," and an RS trigger to select one αj∈{α}. In all versions of the control automata implementation, the number of inputs to the programmable logic matrix decreases by 1.5-3 times, depending on the control algorithm complexity.
E. L. Eremin1, L. V. Nikiforova1, E. A. Shelenok2 1Amur State University, Blagoveshchensk, Russia 2Pacific National University, Khabarovsk, Russia
Keywords: combined regulator, a priory uncertainty, mechanical system, hyperstability criterion, L-dissipativity, filter-corrector, implicit reference model
Using the hyperstability criterion, fast-acting filters-correctors, and implicit reference models under the conditions of control signal constraints and a priory uncertainty, the synthesis of combined nonlinear control algorithms for a system of inverted pendulums connected by a spring is discussed. With the help of computational experiments, the quality of the obtained control system is studied.
A. O. Lebedev, V. V. Vasilev
Institute of Semiconductor Physics, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: UAV, drone, Computer Vision, railways, UAV flight control
An algorithm for controlling the flight of an unmanned aerial vehicle (UAV) over a railway in the automatic mode without participation of an operator and the use of satellite navigation systems is proposed. The algorithm is based on a computer analysis of the video image from the UAV camera, identifying the rails, determining their direction relative to the UAV movement, and controlling the flight characteristics (pitch, yaw, and roll) so that the flight is carried out above the railway at a given height. An advantageous feature of the algorithm is its simplicity, which does not require significant computing resources. The implementation of the algorithm affects neither the weight and size parameters and power consumption of the UAV nor the range and duration of its flight. Flight tests have confirmed the algorithm reliability.
D. V. Pakulich1,2, S. A. Alyamkin2 1Novosibirsk State University, Novosibirsk, Russia 2Expasoft LLC, Novosibirsk, Russia
Keywords: convolutional neural networks, recognition of spoofing attacks, deep neural networks, computer vision
The increased usage of computer vision for biometric identification systems and as a security measure leads to an increase in attempts of falsification. In this regard, the number of ways to automatically detect such situations is also increasing. However, the accuracy of the detection of spoofing attacks can be reduced in some cases like in other systems that use computer vision. In the present study, the existing approaches to the detection of spoofing attacks are considered, and an assessment of their resistance to changes in the conditions of data recording is given.
S. N. Tereshchenko1, A. A. Perov2, A. L. Osipov1 1Novosibirsk State University of Economics and Management, Novosibirsk, Russia 2Moscow Polytechnic University, Moscow, Russia
Keywords: machine learning, convolutional neural networks, steganography, steganalysis, container
The use of convolutional neural networks for analyzing graphic images for the presence of data introduced by steganography methods is investigated. It is shown that a deep convolutional neural network is trained to classify the presence of hidden data in graphic images, achieving accuracy according to the weighted AUC metric of 0.928. The hypothesis of the effectiveness of applying the concept of "transfer learning" for the sphere of steganography is tested. The effectiveness of the proposed technology is confirmed by a large number of experiments.
A. O. Zhukov1,2,3,4, A. I. Gladyshev5, M. S. Tuchin6, A. I. Zakharov6, N. L. Kroussanova6, A. V. Mironov6, V. G. Moshkalev6, M. E. Prokhorov6, O. Yu. Stekolshchikov6, I. V. Kuznetsova6
a:2:{s:4:"TYPE";s:4:"HTML";s:4:"TEXT";s:551:"1Corporation «Special Design Bureau of the Moscow Power Engineering Institute», Moscow, Russia 2Expert-Analytical Center of the Russian Ministry of Education and Science, Moscow, Russia 3Institute of Astronomy, Russian Academy of Sciences, Moscow, Russia 4MIREA - Russian Technological University, Moscow, Russia 5Section of Applied Problems under the Presidium of the RAS, Moscow, Russia 6Sternberg Astronomical Institute of Moscow State University, Moscow, Russia";}
Keywords: star tracker, dynamic test bench, starry sky simulator, raster screen
Dynamic test benches with starry sky simulators are designed for laboratory tests of the star tracker working cycle. Raster screens (computer or television) are often used now to obtain the image of the starry sky. However, star images on such screens have significant differences from the real sky, which must be taken into account when carrying out dynamic tests of star trackers and processing their results.
V. E. Chinkin1, V. G. Getmanov1,2, I. I. Yashin1,3
a:2:{s:4:"TYPE";s:4:"HTML";s:4:"TEXT";s:235:"1Geophysical Center, Russian Academy of Sciences, Moscow, Russia 2Sсhmidt Institute of Physics of the Earth, Russian Academy of Sciences 3National Research Nuclear University MEPHI, Moscow, Russia";}
Keywords: Poisson observations, digital filtering, quasi-Gaussian filter, annealing simulation, stochastic search, global minimization
The synthesis of a digital low-frequency quasi-Gaussian filter with a finite pulse-transient response, a unity gain at zero frequencies, and non-negative weighting factors is considered. The filter is designed to reduce noise in Poisson observations. A Gaussian function is used for the prototype filter, and an approximation functional is formed. For the synthesis, the stochastic global minimization of this functional with a modified algorithm for simulating "annealing" is used. The quasi-Gaussian filter is investigated using model and experimental Poisson observations, and its efficiency is confirmed.
Morphological characters of stigmas in 26 Asian and North American species of the genus Mertensia Roth (Boraginaceae) were studied using a scanning electron microscope. It is noted that there are 3 types of stigmas in the genus: flat, with a depression in the center; weakly or noticeably bi-lobed and spherical. In most species of the genus Mertensia, papillae have a short, barely noticeable stem and a lobed or spherical cap. We have designated this form of papillae with a new term - “modified lageniform” (modified bottle-shaped). For two species of the subgenus Steenhammera (Reichenb.) O.D. Nikif. characteristic papillae are “vermiform” (worm-like). The shape of the papillae confirms the earlier conclusion about the relationship of the North American species M. virginica (L.) G. Don fil. and Altai endemics M. bracteata (Willd. ex Schult. et Roem.) R. Kam. and M. meyeriana Macbride. It is shown that M. sibirica stands alone in the type sub-section of the Mertensia section, but shows kinship to the North American species M. arizonica Greene. In the species of the section Pterocarpeae Popov ex O.D. Nikif. papillae have a unique shape (4-8 multi-lobed deeply dissected caps with smooth surface), which confirms the validity of their inclusion in an separate section. In the section Alpinae O.D. Nikif. the papillae shape of the of M. lanceolata and M. longiflora differs from the other studied species of the section. It is shown that the features of papillae correlate with the features of the sectional and subsectional rank and can be used in the taxonomy of the genus.
G.K. Zvereva1,2 1Novosibirsk State Pedagogical University, Novosibirsk, Russia 2Siberian Federal Scientific Center of Agro-Bio Technologies, RAS, Krasnoobsk, Russia
Keywords: festucoid grasses, anatomy, leaves, glumes of spikelets, spatial organization of chlorenchyma, cellular cells, lobate cells
The structural regulation of photosynthesis is based on the features of the organization of plant chlorenchyma at the cellular and tissue levels. In the chlorenchyma of grasses, there is wide presence of cells of complex shape with pronounced folds and projections, among which cellular and lobed cells are distinguished. The aim of this study was to compare the structure of chlorenchyma, parameters and the three-dimensional form of assimilative cells in the vegetative and generative organs at festucoid grasses. On the example of 25 species of festucoid grasses of different ecological groups growing in Western Siberia, a comparative study of the spatial organization of photosynthetic tissue in leaf blades, leaf sheaths and glumes of spikelets was carried out. Plant samples were fixed in a Gammalund mixture. Transverse and longitudinal sections were made in the middle part of the leaf blades and glumes and in the upper part of the leaf sheaths. In the description of chlorenchyma cells were allocated simple (with straight or slightly wavy walls) and complex (differing in branching of walls) forms of assimilative cells. Cells of complex shape can be flat if complex contours exist only in one direction or multi-complex if they are found in two or three directions. It is shown that in glumes of spikelets, in comparison with the leaf blades, the thickness is reduced and the structure of the chlorenchyma is simplified, while the density of chloroplasts sharply decreases, which may indicate a weakening of the photosynthetic function. At the same time, for the glumes of spikelets are characterized by the complication of spatial cellular configurations in comparison with leaves, mainly due to the predominance of cellular cells of different degrees of expression up to thrice complex cellular-lobed, having lobular contours in a cross-section and cellular in longitudinal direction. The cells are arranged in rows along the organ and come into contact with the cells of the neighboring row in mainly convex parts, which leads to an increase in the intercellular space. In general, in the glumes of spikelets of festucoid cereals in comparison with leaves the assimilatory cells differ in more complex shapes, smaller cross-sectional area and more elongated in the longitudinal direction, which, possibly, creates a structural basis for enhancing gas exchange and to some extent can compensate for a decrease in the development of chlorenchyma.
The aim of the article is to characterize the communities dominated by Cyperus fuscus spread in the steppe zone of Western Siberia and Eastern Kazakhstan. The material was collected on the floodplains of the Aley River (surroundings of Rubtsovsk, Altai Territory, Russia) and the Irtysh one (Semipalatinsk, Republic of Kazakhstan). The communities studied are described as Crypsio schoenoidis-Cyperetum fusci ass. nov. (Eleocharition soloniensis Philippi 1968, Nanocyperetalia Klika 1935, Isoëto-Nanojuncetea Br. Bl. et Tx. in Br. Bl. et al. 1952). Nomenclature type of the association (holotypus) is relevé 1 (Table 1): Altai Territory, Rubtsovsky district, surroundings of the city of Rubtsovsk and the village of Polovinkino (51°2345 N, 81°1250 E), right low water bank of the Aley River, 06.08.1996, G.S. Taran. Diagnostic species: Cyperus fuscus (dominant), Crypsis schoenoides, Spergularia echinosperma. Ass. Crypsio schoenoidis-Cyperetum fusci includes two variants. Var. typica (Table 1, relevés 1-5) is spread on the Aley floodplain. The communities occupy silty areas underlain by crushed shale (rel. 1-3) or sands (rel. 4-5). Var. Persicaria scabra (Table 1, rel. 6-10) was recorded at a distance of 133 km west of the village of Polovinkino. The relevés were made on Polkovnichy Island (Semipalatinsk) in a deep depression (50°2345.3 N, 80°1504.3 E) on the plots covered from the surface by a thin (0.5-1 cm) layer of silt. Below there was a layer of coarse sand 4-22 cm thick, underlain by pebbles. Ground water was opened at a depth of 22-30 cm. The plots were exposed from water 57 days before the date of completion of the relevés. Cyperus fuscus communities of the steppe zone can be considered as a derivative of the northern Cypero-Limoselletum riccietosum frostii Taran 2019. A similar picture is observed in Central Europe: the Cypero-Limoselletum (Oberd. 1957) Korneck 1960 and Eleocharito-Caricetum bohemicae Klika 1935, which are widespread in the forest zone, are replaced by the Cypero-Juncetum bufonii Soó et Csűrös (1936) 1944 in the steppe Pannonian region. Replacing forest-steppe associations Cypero-Limoselletum and Eleocharito-Caricetum bohemicae in the steppe zone of Western Siberia and Eastern Kazakhstan, ass. Crypsio schoenoidis-Cyperetum fusci acts as the East Kazakhstan - West Siberian vicariant of the European Cypero-Juncetum bufonii. When comparing the Crypsio schoenoidis-Cyperetum fusci with European analogues, it was found that Cyperetum micheliani sensu Šumberová 2011 sharply differs from Cyperetum micheliani Horvatić 1931 and therefore it is preferable to interpret it as Cypero-Juncetum bufonii; Eleocharito acicularis-Limoselletum aquaticae sensu Kovalenko 2014 should be attributed to the Cypero fusci-Limoselletum aquaticae (Oberd. 1957) Korneck 1960.
The study of the ability to vegetative propagation by green cuttings in comparison with spring and summer grafting of selected forms and varieties of the genus Sorbus L., from the collection of the CSBS SB RAS, Novosibirsk, was carried out. The objects of the study were selected forms of Siberian mountain ash, common mountain ash, varieties, and interspecific hybrids. The effect of the cuttings type, root-forming stimulators IBA (50 mg/L), Tellurium-M (1 %), quercetin (15 mg/L), and conditions for growing rooted cuttings was studied. In the grafting experiments, the methods of spring grafting and summer сhip-budding were used. It is established that different forms of Siberian mountain ash exhibit significant variability in their ability to rhizogenesis under different conditions, which may allow us to achieve a higher percentage of rootability by varying these conditions. When rooting Siberian mountain ash with green cuttings from the entire terminal growth of the current year with a plot of last year’s wood treated with IBA, a high percentage of cuttings with callus (50 %) and with roots (27 %) was observed. The rootability of green cuttings of varietal mountain ash depended on the origin of the variety. In the ‘Nevezhinskaya’ mountain ash, cuttings practically do not take root and do not form a callus even when treated with stimulants. Cuttings of the varieties ‘Alaya krupnaya’ and ‘Burka’ take root well without treatment with stimulants. Treatment with stimulators of IBA, Tellurium-M with rearing for the second year in the greenhouse allows you to get a high percentage of rooting and further preservation of cuttings. The efficiency of vegetative reproduction by summer сhip-budding is on average from 92 to 100 %. During the spring grafting, the survival rate of grafting on average was from 38 (‘Nevezhinskaya’) to 86 % (Sorbus sibirica f. ITPM-1), but the seedlings grafted by spring grafting develop with less intensity compared to the summer сhip-budding. The effectiveness of summer сhip-budding decreases depending on the calendar dates of grafting from 100 % on July 15 to 88 % by August 15. Based on the data obtained, in the conditions of Novosibirsk, the best way to propagate mountain ash is summer сhip-budding.
D.G. Melnikov1, V.A. Glazunov2, O.G. Baranova1, N.V. Zolotareva3, E.N. Podgaevskaya3, A.S. Tretyakova4, T.G. Ivchenko1, N.Yu. Grudanov5, E.D. Lapshina6, S.A. Nikolaenko2, I.V. Filippov6, P.V. Kondratkov4, S.A. Senator7 1Komarov Botanical Institute, RAS, St. Petersburg, Russia 2Tyumen Scientific Centre SB RAS, Institute of the problems of Northern development, Tyumen, Russia 3Institute of Plant and Animal Ecology, Ural Branch of the RAS, Yekaterinburg, Russia 4Ural Federal University named after the first President of Russia B.N. Yeltsin, Yekaterinburg, Russia 5Botanical Garden of the Ural Branch of the RAS, Yekaterinburg, Russia 6Yugorsk State University, Khanty-Mansiysk, Russia 7Tsitsyn Main Botanical Garden of the RAS, Moscow, Russia
Keywords: aboriginal flora, Red Book, new localities, rare plant species, Komi Republic, Tatarstan Republic, Udmurt Republic, Sverdlovsk Region, Khanty-Mansi Autonomous Okrug, Chelyabinsk Region, Yamalo-Nenets Autonomous Okrug
In the flora of the Urals and adjacent territories for the period from 2011 to 2020, new localities of rare plant species were revealed. Some of them are included in the federal and regional Red Data Books. The article presents the most interesting findings for 28 aboriginal plant species, previously unpublished. For the Eastern macroscline of the Circumpolar Urals, Cypripedium guttatum and Juncus stygius are given for the first time. For the first time for the Republic of Tatarstan, Echinochloa tzvelevii is given, for the Udmurt Republic - Veronica heureka. Some finds were made for the first time in specially protected natural areas (Juncus stygius).
D.G. Chimitov, O.A. Anenkhonov, B.B. Naidanov
Institute of General and Experimental Biology, SB RAS, Ulan-Ude, Russia
Keywords: floral records, Red data book, Baikal region, Transbaikalia
New localities for 10 rare vascular plant species listed in the Red Data Books of the Republic of Buryatia and Trans-Baikal Territory are noted: Asplenium altajense, Cypripedium macranthos, Epipogium aphyllum, Krascheninnikovia ceratoides, Nymphaea tetragona, Oxytropis glandulosa, O. lanata, O. sylvatica, O. triphylla, Stipa glareosa. The latter species - Stipa glareosa, is recommended to be listed in the Red Data Book of the Republic of Buryatia. The distance to closest known localities for every newly found ones are indicated.
Professor Leonid Ivanovich Malyshev (1931-2014) is one of the key figures in the study of the flora of Siberia in the second half of the XX century. Researcher of the alpine flora of Central Siberia. Initiator and organizer, one of the authors of the multi-volume summary «Flora of Siberia» (1987-2003). He made a significant contribution to the comprehensive analysis and zoning of the flora of Siberia using various mathematical methods. A brief overview of his scientific works and organizational activities, both in the CSBS SB RAS, and in Siberia as a whole, is given.
V. P. Myazin1, I. I. Petukhova2, L. V. Shumilova2, A. A. Balagurov2 1Chinakal Institute of Mining, Siberian branch, Russian Academy of Sciences, Chita, Russia 2Transbaikal State University, Chita, Russia
Keywords: Minerals, gold-bearing sands, recovery, integrated use, secondary raw materials, clay and pebble products
It is shown that high processing losses of a valuable component during sand washing and low efficiency of waste use as secondary raw materials reduce the rational use of mineral resources of placer gold mining. The concept of increasing the efficiency of combined low-waste process flow charts for the recovery of free fine gold and the separation of non-ore ephelial, clay and pebble products during the beneficiation and processing of rebellious metal-bearing sands is proposed. A scientific and technological substantiation of flow charts for the integrated use of dump waste products for the creation of resource-saving technologies at placer gold mining facilities with a purpose of using them as secondary mineral raw materials in the construction industry has been completed.
K. K. Razmakhnin, P. A. Vasilyuk
Chinakal Institute of Mining, Siberian branch, Russian Academy of Sciences, Chita, Russia
Keywords: Gold-bearing ores, leaching, cyanide-free reagent, process parameters, mode
The problem of gold-bearing ore leaching by sodium cyanide is estimated. The prospects of using cyanide-free reagents in the processes of gold hydrometallurgy are studied. The possibility of introducing a cyanide-free reagent which is less environmentally hazardous than sodium cyanide is determined. The results of experimental studies on the comparability of leaching indices of gold-bearing ores using sodium cyanide and a reagent based on sodium cyanate are analyzed. The optimal parameters for the implementation of the technological process of ore gold recovery using the proposed reagent are found.
D. M. Tsitsilina
Chinakal Mining Institute, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Flotation, non-sulfide minerals, lead oleate, physical form of sorption
The collective ability of derivatives of oleic acid represented by the products of its interaction with lead salt is investigated. The effect of the obtained collecting agent on the indices of flotation recovery of apatite ore is determined.
E. S. Abdraimov1,2, B. B. Bakirov1,2, M. I. Shadiev3 1SIC of Mechanical Engineering Problems named after S. Abdraimov, Bishkek, Kyrgyzstan 2Imash NAS of the Kyrgyz Republic, Bishkek, Kyrgyzstan 3International University of Innovative Technologies, Bishkek, Kyrgyzstan
Keywords: Mechanisms of variable structure, scheme with the largest piston-rod, with the largest beam, with the largest base
The designs of lever percussive mechanisms with the largest piston-rod developed by S. Abdraimov for compacting soils are considered. The results of kinematics research of three varieties of S. Abdraimov’s schemes with the largest base are presented. The basic parameters of these schemes are determined and recommended for creation of high-frequency percussive mechanisms for compacting soils.
S. E. Alekseev, B. Kubanychbek, E. M. Chernienkov
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: DTH air hammer, drilling, well, capacity, energy carrier, air distribution, elastic valve
A scheme of a DTH air hammer is presented and the issue of reliability of a device with a three-stage hammer made according to this scheme is considered. The features of the bottom hole cleaning system of such devices are shown. The possibilities of using an elastic ring valve located at a larger stage of the hammer have been determined. The results of field tests of DTH hammers are presented.
A. V. Baris
Novosibirsk State Technical University, Novosibirsk, Russia
Keywords: Harmonic drive, bushing chain, flexible wheel, generator, rigid wheel, double-crowned sprocket
The conditions of self-braking in harmonic drives with a flexible wheel made in the form of a bushing chain are considered. A special feature of the harmonic drive is the design which has a dual generator and a double-crowned sprocket. This design allows to avoid skewing the chain under load. The criteria for self-braking in chain harmonic drives are defined. It is found that for chain harmonic drives in the range of gear ratios over 30, the effect of self-braking is provided. In the range of gear ratios up to 30 to achieve the effect of self-braking, it is necessary to use extra-centroid gearing.
V. B. Vasilev1, A. P. Muslimov1, V. A. Vasilev2 1Institute of Engineering Science, Bishkek, Kyrgyzstan 2Siberian Federal University, Krasnoyarsk, Russia
Keywords: Hydraulic system, experimental studies, hydraulic devices, actuators, automatic fluid flow controller, drilling modes
The paper presents the hydraulic diagrams of the developed universal stand intended for the practical study of designed automation tools, obtaining their output parameters, as well as for adjusting hydraulic fluid flow controllers and analyzing the adequacy of operation of automatic systems designed to regulate the operating modes of drilling machines. The operating principle of the stand is studied in detail and technical characteristics of its main hydraulic devices are presented.
V. I. Vostrikov, S. Yu. Gavrilov
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Diamond quarry, measuring and computing system, sensor, monitoring, tectonic fault, near-fault zone, displacement
The measuring and computing system consisting of two sensors was deployed to monitor the geomechanical state of the near-fault zones of tectonic faults at horizons + 380 and + 405 at the quarry of the Zarnitsa diamond pipe in 2019. The monitoring was carried out from 02.10.2019 to 28.11.2019. The measurements demonstrated alternating displacements of geoblocks in the near-fault zones up to 3 mm in size, which lead to rock caving along tectonic faults of the side slopes of the quarry.
L. V. Gorodilov, V. P. Efimov, P. V. Sazhin, V. G. Kudryavtsev, A. I. Pershin
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Impact device, rock mass, case, striker, friction force, oscillogram, acceleration
A procedure of experimental study of the impact device case movement in a borehole has been developed, including the use of “low-frequency” current-vortex) displacement sensors and “high-frequency” (accelerometers) acceleration sensors. After registration, software signal processing was performed, including double integration of accelerations and determination of points of interface of displacements obtained after integration and direct registration. Oscillograms of measurements at different values of reaction from the rock mass are given. The quantitative aspects of the phenomenon are discussed, and an attempt is made to identify the relationship between the quantitative indicators of impact pulses and case displacement.
L. V. Gorodilov, A. I. Pershin
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Hydro-impact device, limiters, reverse mode of operation, impact power
A simulation model of a one-way self-oscillating hydro-impact system with two limiters of striker movement has been developed. The system includes a pump (a constant flow source), a striker (piston) and body (with limiters) connected by a mechanical spring, a spool distributor, a gas-liquid accumulator, and connecting hydraulic lines. By comparing the results of calculations on the simulation model with the results of calculations on the “ideal” model (without hydraulic and mechanical losses and instantly switching distributor), the developed model was verified. Calculations of the operation modes of reverse hydraulic shock devices with an impact energy of 80 and 160 J were performed, their parameters were determined, and the real geometry of the devices was evaluated. The developed equipment can be used to overcome jamming of equipment during drilling and use of special equipment in already drilled holes, when driving workings by impact method in the ground.
B. B. Danilov1, A. I. Chanyshev1,2, D. O. Cheshchin1 1Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia 2Novosibirsk State University of Economics and Management, Novosibirsk, Russia
Keywords: Resistance, elastic, plastic, viscoplastic, depth, speed, time
Among various types of resistance of a rock mass to the penetration of a solid body into it, the resistance types associated not with rebound, but with the depth of penetration (viscoplastic resistance) are determined. It is shown how at a known initial speed of the tool movement (at the depth and time of penetration measured in experiments), for a given tool geometry, the required resistance function is restored, consisting of a constant term and a function which depends on the speed of movement. More acceptable is the geometry of the tool, in which the resistance of the medium to penetration for a given depth is minimal.
B. B. Danilov, D. O. Cheshchin, V. V. Plokhikh
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Impact machines, pneumatic hammers, hydraulic hammers, processing accuracy, pressure
The operating principle of the impact mechanism with sealing elements and an external switchgear is described. The results of an experimental study of the prototype are presented, indicator diagrams are shown.
L. A. Kiyanitsa, I. V. Lugin, A. M. Krasyk
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Railway tunnel, ventilation, heat exchange, temperature distribution, heating and ventilation unit
The paper presents the results of studying the distribution of air temperature along the length of an extended railway tunnel depending on various configurations and locations of tunnel heating and ventilation units. It is shown that the most rational way is the uniform arrangement of heating and ventilation units along the length of the tunnel combined with the installation of air-thermal curtains. This allows ensuring a positive air temperature in all sections along the length of the tunnel.
P. V. Kosykh, A. M. Krasyuk, E. Yu. Russky
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Fan, working blades, aerodynamic and design parameters, topological optimization
Aerodynamic schemes have been developed for highly loaded mining axial fans with an aerodynamic loading coefficient of 696 - 914 kW/m2, which is 4 - 5.3 times higher than currently produced mine fans. The result is based on an increase of the blade tip peripheral speed up to 220 m/s. This became possible by solving the topological optimization problem where distribution of the blade material is calculated using minimum weight criterion. This made it possible to create blades with an oriented structure, the weights of which are 50 - 70 % less than the weight of a monolithic blade, provided that the permissible stress-strain state is maintained.
E. G. Kulikova, V. M. Usoltsev
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Elastic working body, inertial vibration exciter, self-synchronization, frequency mismatch, loose material, linear weight
The dynamics of an elastic working body of a transporting device equipped with two inertial vibration exciters was studied experimentally. The nature of change in the mismatch of the rotational frequencies of vibration source rotors and the degree of their mutual influence when increasing the linear weight of bulk material is determined. The basic relationships of the structural and dynamic parameters of the vibrating device are found, which make it possible to increase the transportation range of loose geomaterials.
A. K. Tkachuk, A. Yu. Primychkin
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk Russia
Keywords: Longitudinal wave source, dynamic action, mineral exploration, vacuum percussion machine, control system
The article discusses a prototype of a vacuum impact machine. The experience of its use in the implementation of technologies for the exploration of minerals and the development of underground space is shown. The main parameters of the automatic control system of the VIM are experimentally determined. Further ways of automatic control systems modernization for machines of this class are outlined.
V. V. Chervov
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Sciences, Novosibirsk, Russia
Keywords: Striker, body, compressed air, impact frequency, elastic valve, weight
A brief overview of the equipment used for driving steel elements into the ground is made. The main parameters of a pneumatic hammer designed for driving pipes with a diameter greater than 1220 mm into the ground with an open end are substantiated. The device and features of operation of pneumatic hammers with a variable structure of impact power, which have an elastic ring valve in the air distribution system, are described. Based on the analysis of long-term operation of equipment for trenchless laying of underground facilities and driving vertical pipes, a forecast is made about possible difficulties in creating a large-sized super-heavy pneumatic shock device. The design principles are proposed, as well as possible ways to solve the problems associated with creating a pneumatic hammer with the impact part weight greater than 1000 kg.
A. A. Eremenko, V. N. Koltyshev
Chinakal Institute of Mining, Siberian Branch, Russian Academy of Science, Novosibirsk, Russia
Keywords: Sludge sump, endogenous and exogenous fire, samples, well drilling
Studies were carried out to determine the causes of periodic fires on the territory of the former sludge sump in Kuzbass. Using various methods for evaluating rock mass and core drilling samples, the causes of exogenous and endogenous fires in different time periods were determined.
