The paper examines the problem of constructing a motion control system for autonomous mobile tracked robots in an informal external environment. Based on the proposed mathematical model of the control system for a tracked mobile robot, which takes into account kinematic and dynamic parameters, simulation modeling of a tracked mobile robot was carried out in the dynamic modeling environments of technical systems MATLAB Simulink and SimInTech, which made it possible to control the coordinates of a tracked mobile robot along a predetermined trajectory with a certain accuracy. To increase the stability of the mobile robot motion control system, a PID controller of the armature current and electromagnetic torque was introduced into it. During the simulation study, graphical dependences on time were obtained: supply voltage; rotation angle of the robot body; track speeds; motor armature current; electromagnetic torque of engines; armature current of motors with PID controller; the path traveled by the caterpillars; electromagnetic torque of motors with a PID controller, and also the center of mass of the robot was set when setting a trajectory with a radius of 10 m for 6.2 s. Models were built in the MATLAB Simulink software package: general simulation, kinematic simulation and dynamic simulation of a tracked mobile robot, simulation subsystem of the electric drive control unit. In the SimInTech software environment, a simulation model of the dynamic part of the right electric drive of a tracked mobile robot was obtained. A comparative analysis of the graphical dependencies of the angular velocity of the roller and armature current of the motor of a tracked mobile robot, obtained in the MATLAB Simulink and SimInTech packages, was carried out, which revealed a number of advantages and disadvantages when testing the operation of the control system of a tracked mobile robot in an unformalized external environment.

The paper deals with the studies of plasma coatings formed under optimal technological conditions from Al₂O₃–TiO₂–NiCrAlYТа powder compositions. They have an acceptable density and have a number of surface defects acceptable for operation – pores and cracks. Large-dimensional ceramic Al₂O₃–TiO₂ particles are embedded in the NiCrAlYТа matrix during the formation of the coating. This structure is associated with the mobility of the molten liquid-phase components of NiCrAlYТа, which tend to fill gaps and cracks that occur during plasma spraying of metal oxide coating and contribute to an increase in the density of coatings. In the process of high-temperature deposition, the oxide component melts into an organic whole with a metal one in the area of the interface, the elements diffuse and penetrate each other, so the interface is not clearly defined, there are no obvious boundaries between layered structures. These structures, along with chemical and mechanical bonds, also contain metallurgical bonds. With the optimal spraying parameters we have established, a microheterogeneous structure is observed in the coating system with the content of elements that ensure its wear resistance (orthorhombic phase of titanium oxide, Cr_1.12Ni_2.88, a-Al₂O₃, γ-Al₂O₃). Spreading of molten powder particles on the substrate occurs with minimal spattering and losses upon impact on the substrate. The main crystalline phases in the system of the formed coating include Cr_1.12Ni_2.88, γ-Al₂O₃, anatase (TiO₂) in addition to rutile, and a-Al₂O₃. In the analysis, diffraction peaks in rutile are detected in the ranges 2θ = 32° and 2θ = 70°, while the content increases after the sputtering process, which confirms the transition from the anatase phase to the rutile phase at high temperature. Based on the results of quantitative analysis, the content in coating of a-Al₂O₃ and rutile TiO₂ is approximately 30.4 % and 32.2 %, respectively, being the main phase structures of the coatings. Studies have been carried out on the influence of distances of the plasma spraying process on the performance characteristics of wear-resistant plasma coatings – adhesion strength, hardness and porosity.

The paper presents an analytically closed solution to the problem of axisymmetric pressing of discrete metal materials by the method of jointly solving the differential equations of equilibrium of the metal and the plasticity conditions of the porous body, taking into account all pressing factors without exception: the type and properties of the charge, loading conditions, porosity, temperature, friction, etc. The purpose of this work is to develop the foundations of the engineering theory of pressure processing of discrete materials using the example of solving the problem of axisymmetric pressing of structurally inhomogeneous metal chips in a movable closed matrix. The basis for constructing a physical and mathema-tical model of the process is the idealized case of uniform compaction of a porous body with the subsequent determination of the lateral pressure coefficient corresponding to the actual degree of compaction at various stages of loading. The resulting equation for the relationship between the stress tensor components and the yield stress and relative compaction density represents the cylindrical Mises plasticity condition, which in the limit at zero porosity transforms into the plasticity condition for compact metals. The boundary value problem is solved for tangential stresses, taking into account the magnitude and direction of action of contact friction forces, which in their physical nature do not differ from the friction forces in the depth of the pressed material. The physico-mathematical model makes it possible to calculate the stress fields and density of the body according to the coordinates of the deformation zone, as well as energy-power parameters (pressure, force, work of deformation) provided that three structural and rheological characteristics are determined: the yield strength, relative compression and the degree of deformation compaction. Due to the fact that the problem is solved in relation to bodies of rotation in a general form and in a general formulation, the solution itself should be considered as methodological for any axisymmetric loading scheme.

To carry out a power calculation of the anti-driveaway device (from now on referred to as – AD) of lifting cranes operating in the open air, it is necessary to know the maximum calculated value of the wind force on the elements of the AD rails connected by side bars. The various types of anti-theft crane devices recommended for use have a number of disadvantages, which have been written about in previous papers. Anti-theft crane devices are also known, in which the stop of lifting cranes on the rail track is carried out by a locking eccentric interacting with the surface of the rail head. The reliabi-lity of such devices is insufficient, since due to the constant force of the spring, the adhesion force of the eccentric to the rail does not depend on the changing wind force. To carry out a power calculation of the anti-theft device for cranes operating in the open air, it is necessary to know the maximum calculated value of the wind force acting on its elements that hold the cranes on the rails when the cranes are inoperative. When a crane moves along rails under the influence of wind force P_w, the eccentric, turning, transmits the pressure force from the rail to the double-arm lever connecting the eccentric mechanism to the wedge mechanism. The eccentric mechanism is essentially a drive for the vertical movement of the wedge, as a result of which the pincer clamp closes on the rail head and the crane stops. Thus, the energy developed by the crane, driven by the force P_w, is used to stop it. For this purpose, the paper deals with the issues of determining the maximum design values of the wind force acting on the total lateral surfaces of various types of cranes under different climatic, aerodynamic, probabilistic and other wind loads. A methodology is given for determining the maximum calculated total values of wind loads on the elements of the developed anti-theft device for lifting cranes moving along crane rail tracks. The calculated total lateral areas and wind loads on bridge support single- and double-girder cranes, gantry and tower cranes for various designs, spans, load capacities and other parameters have been determined. Based on the calculations performed, it is possible to create a model range of anti-theft devices for various designs of load-lifting cranes moving on crane rails under various operating conditions.

The paper provides a method for calculating additional settlements of slab foundations of existing buildings and structures from vibration-dynamic influences that arise during various construction works near them (driving piles, vibra- tory driving of sheet piling beams, soil compaction with heavy rammers and vibrating hammers), as well as from industrial equipment and transport. The technique includes the following main steps. Using the finite element method, or measured existing vibration fields, the distribution of the maximum accelerations of ground vibrations under the base of the foundation along the depth is determined and the zone in which they exceed the critical accelerations at which volumetric and shear deformations of the soil begin to appear is identified. The soil at the base of the foundation is divided into elementary layers with a thickness of no more than 1/4 of the width of the foundation. Further, according to the known vibration-compression depen-dencies (the dependence of the change in the porosity coefficient e of soil samples on the acceleration of their vibrations a), which are obtained in laboratory conditions, the settlements of each layer are determined, the summation of which gives the total value of the additional dynamic settlement S_д. If it, together with the static settlement S_ст, exceeds the maximum normalized settlement values, it is proposed to use three methods to reduce or eliminate S_д – drilling injection strengthening of the zone of development of additional settlements, the use of a horizontal inertial plate or a vertical barrier made of easily compressible materials in the path of vibration propagation, the use of which reduces the intensity of vibration-dynamic impacts transmitted to the foundations under consideration.

In the long term, along with the growth of nuclear power and related changes in the fuel and energy balance of the country, natural gas will retain an important place in the national economy, including in the production of heat and electricity Accordingly, the importance of gas distribution networks, which directly supply fuel to the Republic's consumers, will remain for a long time. According with the Concept of the National Strategy for Sustainable Development of the Republic of Belarus for the period until 2035, the main task in the gas sector is to maintain production assets at a level ensuring safe energy supply. Practice shows that corrosion factor has the greatest potential to influence the technical condition of steel underground distribution gas pipelines. To compensate for corrosion processes, steel underground pipelines are equipped with special protective means, in particular, insulation coatings. One of the key operational characteristics of  insulation is its integrity, which is controlled through periodic (comprehensive) instrumental technical inspection. Based on the inspection results, statistics of  identified defects of protective coatings is formed. The work examines the issues of ensuring the reliability of operational data, and highlights the experience of implementing specialized software packages in gas supply organizations of the Beltopgaz State Production Association for recording and processing the results of instrument surveys of gas distribution pipelines. The issue of the influence of organizational and production aspect (features of technology, local practice of planning and performing specific types of work on technical operation) on the structure of operational data, which requires separate study and accounting for their further statistical processing and use, has been considered in the paper.

Development of higher education institutions within the framework of the “University 3.0” paradigm is actively analyzed in the research community of Russia, Belarus and Euroasian Economic Community countries. However, a small number of scientists are trying to give a comprehensive assessment of the role of Russian universities in achieving the goals of new industrial policy. The paper presents the results of a study aimed at filling this gap. The purpose of the study was to evaluate the efficiency of higher education institutions in the context of their contribution to achieving the goals of the new industrial policy (using the example of key development indicators of the National Research University of Electronic Technology (MIET). During the study, the following tasks have been solved: a brief overview of the main scientific publications covering the research issue was completed; the content and main directions of the new industrial policy were analyzed; the role of universities as key elements of the institutional mechanism of the new industrial policy has been revealed, through the implementation of which universities carry out it. A hypothesis has been put forward about imbalance of two key areas of development of leading Russian research universities in terms of their participation in increasing the economic power of Russia. Based on the analysis of the main indicators of the development of the National Research University of Electronic Technology (MIET) it has been demonstrated that significantly more time and resources is devoted to expanding the pre-sence of this university in national science and industry than to improving the quality of educational programs and introducing the results of innovative activity into work with students and graduate students. Conclusions have been made that theoretical model and practical ways and means for transporting resources, innovative solutions and innovation energy in the educational space are not sufficiently explored. Practical recommendations for educational institutions are formulated: it is proposed to involve industrial enterprises more widely not only in accreditation, but also in the implementation of educational programs (including such elements as internships and internships at industrial enterprises). This approach will help to strengthen the effects of the triple spiral of innovation in the training of engineering personnel for the real sector of the economy

There is a class of complex systems characterized by dynamism, multi-link structural elements, multi-stage, multi-linked chain of processes. Moreover, each of these processes occurs under conditions of stochastic and non-stochastic uncertainty in the initial information, internal and external environment, which predetermine the uncertainty of the nature of the development of the situation. Decision-making problems in such systems are divided into two types: 1) decision-making problems under risk conditions, when uncertainty conditions are only probabilistic, stochastic in nature; 2) decision-making problems under conditions of uncertainty, when the accompanying conditions are of a non-stochastic nature, and also when the necessary reliable statistical data is unknown. In tasks of the second type, risks are manifested to a greater extent than in the first. At the same time, risk should be considered – as an object, event, phenomenon – as a formal mathematical category in accordance with its following information interpretation: risk is information uncertainty, fuzziness of the “object – subject – environment” system and its individual elements. The measure of this uncertainty determines the measure of danger, possible damage, loss from the implementation of some decision or event. The existence of risk is associated with the inability to predict the future with 100 % accuracy. Based on this, the main property of risk should be singled out: risk occurs only in relation to the future and is inextricably linked with forecasting, and therefore with decision-making in general (the word “risk” literally means “making a decision”, the result of which is unknown). Following the above, it is also worth noting that the categories “risk” and “uncertainty” are closely related and are often used as synonyms. In conditions when the initial factors are given in the form of fuzzy characteristics, other approaches based on the intelligent technologies of Soft Computing are widely used for forecasting. When evaluating alternative decision-making options for risk assessment under uncertainty, the problem of developing fuzzy models based on fuzzy inference rules arises. But there is no universal method for constructing fuzzy evaluation models. The advantage of fuzzy logic lies in the possibility of using expert knowledge about a given object in the form of if “inputs”, then “outputs”. In the paper a bankruptcy risk model is developed in poorly formalized processes for the purpose of forecasting.