Askar Seidakhmet

Automating the pushing of bulk materials deposited through the hatch of a transport and packaging container (TPC) requires the development of a specialized robot equipped with an end effector capable of displacing material within a spatially constrained environment. This paper proposes a Cartesian robot design featuring a cellular end effector—comprising a grid of rectangular compartments—and a control system that enables the pushing of bulk material batches loaded via the hatch. This work presents experimental results regarding robotic workcell performance as a function of its end effector immersion depth and the material’s moisture content. Finite element modeling (FEM) of the end effector is detailed, determining the resistance forces encountered during movement at various immersion depths within the bulk material. Furthermore, an analysis of the container’s design was conducted to determine the final layer thickness of the bulk material after leveling five consecutive loaded portions. Newton–Euler equations are formulated to describe the movement dynamics of the end effector, considering variables such as immersion depth and material moisture. Additionally, a motion control algorithm was developed to accommodate varying displacements of the conical heap’s apex relative to the hatch center, integrated within the overall Cartesian robot control system. The derived results and recommendations facilitate the effective pushing and redistribution of loaded material batches within the container. Finally, finite element analysis and experimental validation confirm the structural strength and rigidity of the Cartesian robotic workcell, ensuring that the maximum elastic deflection of the end effector under peak dynamic load remains ≈ 1 mm.

Background: The aim of this study lies in the development of a hybrid Cartesian robot for knee joint surgeries, to eliminate the shortcomings of existing surgical robots. Methods: To develop a hybrid Cartesian robot, we used a combination of a Cartesian manipulator and a serial manipulator, both with three degrees of freedom (DOF). Results: A 3D model of a hybrid Cartesian robot for knee joint surgery is developed, and a prototype is designed in a simplified form based on this model. The experimental tests of the 6DOF prototype of the hybrid Cartesian robot used for knee joint surgery confirmed its good performance when cutting hard cow bone. Conclusion: To eliminate the disadvantages in surgical robots used for knee joint operations, a hybrid Cartesian robot has been developed. The hybrid Cartesian robot has the strengths of parallel and serial robots, potentially eliminating the main disadvantage of their designs.

This article discusses the development of a ROS2-based control system for the MDSM15B60G-2 driver using the ModBus RTU industrial protocol. The created software solution integrates into the ROS2 ecosystem, combining the reading of encoder positions, sending, and writing speed commands. The relevance of the topic is due to the integration of low-level actuators with high-level planning and navigation tools in robotics. The purpose of the study is to create a universal ROS2 package for controlling the MDSM15B60G-2 driver via the RS-485 interface. The main attention is paid to the construction of the Hardware_Interface, which provides data exchange between the controller and physical equipment. The work implements support for the /cmd_vel topic, which provides both manual and automatic control via NAV2. The methodology involves the development of a ROS2-Python node based on the PyModbus library, converting speed commands to RPM and subsequently transmitting them to ModBus RTU. The system was tested using teleop_twist_keyboard The main result of the work is a ROS2 driver that does not depend on the specific design of the robot and can be used in various robotic systems. The work demonstrates how to connect the industrial ModBus RTU protocol with ROS2.

The complete burial of high-level radioactive waste (HLW) in spent open mines presents a promising solution to long-term waste isolation. This study presents the justification and design of an innovative dual ventilation system aimed at regulating heat and removing gas-dust mixtures from such repositories. The ventilation system is designed to control dust-gas emissions and thermal loads through a two-chimney configuration, enabling efficient gas extraction and convective cooling. A system of main and additional chimneys is proposed: the main chimney channels the rising hot gas-dust mixture, while the additional chimney processes it through a staged treatment system before final disposal. Mathematical modeling, including Fourier’s Law, Darcy’s Law, and Fick’s Law, supports the thermal, hydraulic, and gas dynamics simulations. The study demonstrates that with adequate ventilation flow and composite-layer insulation, internal repository temperatures can be reduced from 300°C to below 100°C within 30 years, significantly lowering the risk of container degradation and gas-induced particle mobilization. The integrated system improves the safety, observability, and long-term reliability of HLW burial in open spent mines, offering a scalable and internationally compliant solution. Through a combination of temperature distribution modeling, structural analysis, and airflow simulations, the system's viability is demonstrated. The results show that the proposed ventilation configuration provides effective thermal regulation, structural resilience under stress, and compatibility with repurposed mining infrastructure. The study contributes a scalable, energy-efficient solution to HLW (High-level radioactive waste) repository management, paving the way for safer and more sustainable nuclear waste isolation

This paper presents an experimental research of a cable-suspended parallel robot with point-mass end-effector for practical application in the educational process. Due to the fact that the cables in the cable-suspended parallel robot with point-mass end-effector are located above the end-effector, it has great advantages compared to other cable- driven parallel robots. Here, the possibility of interaction of cables with each other and the environment is excluded. Such a structure of the cable-suspended parallel robot with point-mass end-effector allows for uniform distribution of the load along the cables and thereby increases the lifting capacity. The main disadvantage of the cable-suspended parallel robot with point-mass end-effector is its low rigidity. Low rigidity of the cable-suspended parallel robot with point-mass end-effector, when applying a load, leads to its significant oscillations of the end-effector, which reduces the accuracy of trajectory reproduction. The conducted experimental determinations of the real trajectory of the cable-suspended parallel robot with point-mass end-effector and the level of tension of the cables allow us to evaluate its operation in real operating conditions. It has been established that for normal operation of the cable-suspended parallel robot with point-mass end-effector it is necessary to control the real trajectory of the robot and the level of tension of the cables. The experimental methods of research of the cable-suspended parallel robot with point-mass end-effector developed in the work are simple and understandable for their practical application in the educational process.