Daniyar Kerimkulov

В данной работе рассматривается разработка системы управления рулевым механизмом грузовых мобильных роботов с применением принципа Аккермана. Актуальность исследования обусловлена возрастающей потребностью в автономных решениях в области логистики и складского хозяйства, где мобильные роботы могут эффективно выполнять задачи по перемещению грузов в ограниченных пространствах. Разработанная программа представляет собой основу для системы управления рулевым механизмом грузовых мобильных роботов на основе принципа Аккермана. Дальнейшие шаги могут включать интеграцию программы с аппаратными компонентами робота, тестирование в реальных условиях и оптимизацию для различных сценариев работы. Такой подход обеспечит необходимую маневренность и эффективности при выполнении поставленных задач в логистике и складском хозяйстве.

In wheeled vehicles, there exists a challenge concerning the alignment of the front wheels during turns. When both wheels are turned to the same extent, the inner wheel experiences lateral slippage on the road surface, resulting in reduced steering efficiency. Such problems can be solved by using the Ackermann principle. There are two approaches: through the steering mechanism or by employing autonomous wheel control. From a technical standpoint, it is achievable to synthesize a steering mechanism that fulfills the Ackermann condition, ensuring as accurately as possible for any given turning radius. This research paper focuses on synthesizing a steering mechanism, specifically a two-circuit linkage that links the left and right wheels. The structure and kinematics of this mechanism are being investigated. Following the principles of Ackermann, an objective function for the kinematic synthesis of the mechanism has been formulated. The synthesis process of the mechanism is conducted using the analytical method of interpolation in four parameters. A dedicated method has been developed, and kinematic analysis of the mechanism using the synthesized parameters has been performed. The simulation results have demonstrated high accuracy in achieving the desired implementation of the Ackermann condition.

In this study, an AM-based continuous processing reactor system was designed, manufactured, and assembled on a laboratory scale for the generation of pharmaceutical substances with an improved process control. The developed AM-based (additively manufactured) continuous pharmaceutical reactor system for the synthesis of metronidazole derivatives aimed to optimize both the physical and the chemical processes with time savings. Using AM, we were able to build reactor subcomponents with complex designs and precise dimensions, which facilitated the precise control of the reaction parameters and reduced the amount of chemicals required compared to macroscale reactors. The assembly of the whole reactor system consisted of main reactor bodies, mixers, valves, heat exchangers, electrical motors, and a microcontroller system. The assembled reactor system revealed a continuous flow of reagents and ensured uniform mixing and reaction conditions, thereby increasing the process efficiency and product quality. Five metronidazole derivatives were synthesized via two continuous processes, involving metronidazole reduction and its subsequent reactions with terephthalic aldehyde and anthracen-9(10H)-one to form Schiff bases. The optimal conditions were determined as follows: compound A (72% yield, 120 min, 55 °C), compounds B and C (63% and 68% yield, respectively, 8 h, 65 °C), and compounds D and E (74% and 85% yield, respectively, 8 h, 45 °C).

In this study, the problem of the operability of the solar-heat supply system in the cold region of Kazakhstan receiving minimal solar radiation was studied. The importance of this study lies in the question of how a dual-circuit solar installation can work for productivity in the northern regions of Kazakhstan. In the course of the study, an efficiency reduced from the energy efficiency increased by using a transparent glazed window reduced the supply of coolant into the pipe. Cold liquid heat enters the resulting stream, heat transfer increases, and the intermediate walls heat up. In this study, a method was used to determine the thermal characteristics of a glazed flat collector, which contains a brief and accurate description. From the results obtained, it can be concluded that the effectiveness of 2.40 and 2.53 was recognized in this study. It was also investigated that the thermal capacity of the solar collector depends on the thickness of the absorbing layer. Having conducted this experimental study, we were convinced that it is reliable for the northern regions of Kazakhstan.