Open Information and Computer Integrated Technologies
Founded in: 1999 Field of science and issues in focus: The collection covers methods of integrated design, construction, three-dimensional parametric modeling, production preparation, engineering analysis with the help of CAD / CAM / CAE / PLM systems, aerodynamics, strength, design and technology of aircraft engineering. Methods for ensuring the safety of structures during long-term operation, the aircraft lifecycle information support system, life safety systems for aircrafts, questions of economic risk analysis, methods of support, and management decisions are considered. The publication is intended for specialists of industrial and scientific organizations, teachers, post-graduate students and students. The edition is included in the List of Scientific Professional Publications of Ukraine (Category "Б") by the Ministry of Education and Science of Ukraine № 1301 of 15.10.2019. Specialties (ISCED-F 2013): 0413(073, 275) Management and administration 0541 (113) Mathematics 0612 (126) Database and network design and administration 0613 (121, 122) Software and applications development and analysis 0688 (124) Inter-disciplinary programmes and qualifications involving Information and Communication Technologies 0713 (141, 142) Electricity and energy 0714 (173, 174, 175, 176) Electronics and automation 0715 (131, 142) Mechanics and metal trades 0716 (134, 142, 173) Motor vehicles, ships and aircraft 0788 (132) Inter-disciplinary programmes and qualifications involving engineering, manufacturing and construction 1041 (272) Air Transport ISSN: 2071-1077 (Print), 2663-2411 (Online) Media identifier No. R30-01719 (Decision dated 10/26/2023 No. 1146). Indexing: Vernadsky National Library of Ukraine; NRAT; «Ukrainika naukova»; «Dzerelo»; Ulrichsweb Global Serials Directory; OCLC WorldCat; Index Copernicus, Scillit, OUCI DOI CrossRef Founder: National Aerospace University «Kharkiv Aviation Institute» EDRPOU code: 02066769 Founder's ROR: https://ror.org/048j5n646 DOI prefix: 10.32620/oikit Editor-in-Chief: Grebenikov Oleksandr Executive secretary: Gamanukha Tamara Editorial office address: 61070, Kharkiv, 17 V. Manka Str., chair 103. Tel.: +38(057)7884363, +38(057)7884084 E-mail: agrebenikov@ukr.net Archives of issues are HERE This journal provides immediate open access to its content on the principle that making research freely available to the public supports a greater global exchange of knowledge This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License
Національний аерокосмічний університет "ХАІ"
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The method of determining the characteristics of the general stress-strain state of the tail boom Transport Category Helicopters
A method for determining the characteristics of the general stress-strain state of a helicopter tail boom, taking into account cutouts and reinforcing plates, has been developed, which includes the creation of a three-dimensional parametric finite element model, the design of the tail boom is presented, a calculation scheme for the tail boom of a transport category helicopter has been developed, and a finite element model. In the practice of world helicopter construction, single-rotor helicopters are most widely used, which are characterized by relative simplicity of design, convenient control and relatively low cost. The tail beam is the most complex part in the production of a helicopter. For a single-rotor helicopter, the tail beam is a very critical part of the structure, the destruction of which in most cases leads to an aviation accident. Ensuring the requirements for strength is an extremely responsible task, therefore it is regulated by the airworthiness standards mandatory for designers, which are an integral part of the Aviation Rules. These standards set the initial requirements for the calculation and experimental work to ensure strength, determine the loading conditions, and give instructions for determining the magnitude of the loads. In the practice of helicopter construction, the experience accumulated in aircraft construction in forming structural and power schemes of frame units is used. One of the main tasks of modern aviation science is the creation of a rational structural and power scheme of helicopter units, which makes it possible to achieve high indicators of weight efficiency and structural resource. This scientific problem is solved by studying the stress-strain state of the structure analytically, numerically or experimentally. Numerical modeling is increasingly and widely used in the design of aircraft structures to determine the optimal parameters at given operating modes. The main numerical method that has become widespread in engineering calculations is the finite element method. The main design case for the tail boom is the exit from a dive. The corresponding design load cases acting on the helicopter's tail boom are determined as a result of calculations performed in accordance with the requirements of the aviation rules and other regulatory documents for the creation of a transport category helicopter, as well as the results of tests.
Copyright (c) 2025 Олександр Григорович Гребеніков, Михайло Миколайович Орловський, Володимир Миколайович Костанді
Methodology for optimizing parameters and processes of metal component production for aerospace structures via additive manufacturing technologies
This article provides an overview of current approaches to optimizing parameters and processes in additive manufacturing for aerospace metal components. The use of 3D printing technologies such as Selective Laser Melting (SLM) and Electron Beam Melting (EBM) is considered, which enable the creation of parts with complex geometries, reduced mass, and improved operational characteristics. The importance of accurately selecting technological parameters is emphasized, as they directly affect the mechanical properties, durability, and reliability of the produced parts. Special attention is given to issues arising during additive manufacturing, such as material porosity, residual stresses, structural inhomogeneity, and insufficient dimensional accuracy. Methods for their elimination are analyzed, including numerical modeling of thermal processes, topology optimization of structures, and the application of machine learning algorithms for automated print parameter selection. The importance of integrating a comprehensive approach that combines experimental research with digital technologies is emphasized, as it significantly enhances product quality. The article focuses on the future development of additive technologies in the aerospace industry. Specifically, the possibilities of integrating artificial intelligence (AI) into print process management are explored, enabling not only quality control automation but also the prediction of potential defects at early stages of production. Additionally, the development of new metal alloys specifically tailored for 3D printing methods and the standardization of additive parts certification processes are discussed, as these are key factors for the widespread adoption of these technologies in aerospace manufacturing. Thus, the article summarizes the latest research in the field, identifies key problems, and outlines potential solutions. The comprehensive analysis and implementation of modern additive manufacturing optimization methods will improve efficiency, reliability, and cost-effectiveness in aerospace 3D printing applications.
Copyright (c) 2025 Oleksandr Dzhurynskyi, Sergey Filipkovskij
Trends in the use of fairing shapes in winged missile designs
The article provides an analytical review of the use of head fairing shapes for winged missiles of various classes and speed ranges. The study aims to identify trends in the use of fairing geometric shapes in the design of subsonic, supersonic, and hypersonic aircraft, taking into account the characteristics of their thermal and aerodynamic loads. It is shown that when designing combat missiles with non-separable fairings, their aerodynamic heating is one of the most important factors determining the reliability, durability, flight and technical characteristics of the product. A review of scientific publications revealed that most studies are devoted to separable fairings of space launch vehicles, while the issue of optimizing the shape of non-separable fairings of combat missiles has not been sufficiently addressed. Based on an analysis of methods for studying fairing parameters, the possibilities of three main approaches were summarized: numerical CFD modeling, wind tunnel experiments, and analytical statistical methods. The latter method was used as an initial stage to determine the patterns of fairing shapes use in modern rocket designs. A statistical study of 107 combat missiles of various types was conducted, during which the relationship between the shape of the nose section and other characteristics of the missile was determined. As a result, it was established that the ogive shape of the main fairing is the most promising for further research and optimization. Based on the results obtained, a methodological sequence of further research stages is proposed, which includes the creation of analytical and physical heating models, CFD analysis, and validation of results using experiments in a wind tunnel. The results obtained are of practical importance for improving the effectiveness of combat missiles and improving the design of non-separable head fairings for supersonic and hypersonic aircraft. The work forms the scientific basis for further research aimed at optimizing the shape of ogive fairings in order to reduce the effects of aerodynamic heating and improve aerodynamic characteristics over a wide range of speeds.
Copyright (c) 2025 Віталій Сергійович Філіпковський, Ганна Миколаївна Колоскова
Analysis of the stress-strain state of a cantilever perforated layer with a cylindrical embedded support
The article presents an analysis of the stress-strain state of a cantilever perforated layer in contact with a rigid cylindrical embedded support. Such structural elements are widely used in aviation, aerospace, and general engineering to reduce weight, provide access, or perform specific functional tasks. The presence of holes and supports significantly changes the stress-strain state, leading to local stress concentration, which can cause premature failure. A mathematical model based on three-dimensional equations of elasticity theory has been developed for the study. To solve the boundary value problem, a generalized Fourier method was used, which allows the boundary conditions on all surfaces (layer planes, hole surfaces, and the contact boundary with the support) to be satisfied with high accuracy. Satisfying mixed boundary conditions leads to an infinite system of integro-algebraic equations with unknown coefficients. Through analytical transformations, this system is reduced to an infinite system of linear algebraic equations of the second kind, to which the reduction method is applied, ensuring high accuracy of results. As part of the work, a detailed numerical study was carried out for a specific configuration: a layer of ABS plastic with five parallel cylindrical cavities, one of which acts as a rigid fastening. The case of a localized normal load on the upper surface of the layer is considered. Detailed distribution patterns of all components of the stress tensor were analyzed. The results demonstrate the complex three-dimensional nature of the stress distribution arising from the superposition of bending, tension/compression effects, and significant mutual influence of stress concentrators. It has been established that the stress distribution is significantly asymmetrical both relative to the surfaces of the layer and for each cavity individually, which emphasizes the impossibility of using simplified models. Areas of maximum stress concentration have been identified, which are critically important in terms of strength assessment. The developed analytical and numerical approach allows obtaining reliable data on stress and displacement distribution with high accuracy, which is important for verifying the results obtained using numerical methods. The work has significant practical value for design engineers, providing an effective tool for calculating strength, optimizing structures, and ensuring their operational reliability.
Copyright (c) 2025 Михайло Леонідович Косенко
Technological preparation of production for complex-shaped components and assemblies of light agricultural aircraft
The application of traditional manufacturing technologies for components and assemblies of light aircraft is largely limited by the geometry of their complex-shaped surfaces, which is associated with a significant volume of technological preparation for such production, given the relatively small production volumes of such aircraft. This fact impedes the introduction of substantial changes to the aircraft's design, even if they could improve its operational characteristics, due to the specific nature of their construction in terms of production flexibility and volume. An analysis of the efficiency of the traditional loft-template method (LTM) in the technological preparation of production (TPP) for complex-shaped components of light agricultural aircraft is presented, using the example of the wingtip fairing of the "Bekas" X-22 aircraft. The technological process of designing and manufacturing the tooling – wingtip molds – is described. The labor intensity of these processes has been assessed. The technology for manufacturing the wingtips themselves is provided, with the associated labor intensity documented. The primary focus is on reducing labor intensity and eliminating the limitations inherent to the LTM. The analysis of the obtained results indicated the limited capabilities of the LTM in designing and manufacturing complex-profile products, expressed in the significant labor intensity of production preparation and the manufacturing process itself on universal equipment using templates as control measuring tools. As an alternative, a technology for 3D modeling of complex-shaped aircraft assemblies – the same wingtip – in a CAD/CAM system is proposed. Furthermore, the production preparation and mold design were also performed using this same system. The labor intensity of tooling design in this production preparation approach has been assessed. The availability of analytical digital master models of the production object and the technological tooling allowed for the development of NC programs for manufacturing the forming tooling for CNC equipment. The labor intensity of the manufacturing processes for the tooling in this approach was recorded, enabling a comparison of the results of the two considered methods. The use of analytical reference within a CAD/CAM system environment eliminates the LTM's characteristic dependence on human-intensive labor by highly skilled personnel and the necessity for long-term storage of bulky lofting-template tooling. This approach is applicable to a wide range of complex-shaped components in aerospace and related industries. The transition to CAD/CAM technologies and CNC machining is economically viable for light aircraft manufacturers. It allows for a radical reduction in the labor intensity of TPP, increases production flexibility, and enhances adaptability to design changes
Copyright (c) 2025 Ігор Миколайович Лисоченко, Ігор Валерійович Бичков, Сергій Миколайович Рябіков, Микола Ігорович Бичков, Ганна Сергіївна Селезньова
Improving the efficiency of machine parts and cutting tools using combined processing methods
Combined strengthening mechanisms significantly improve the operational durability of cutting tools (CT) and machine-building parts. The application of simultaneous ion implantation along with plasma deposition of coatings based on molybdenum and tungsten ensures an increase in the wear resistance of steel parts by 2–10 times compared to materials treated with coating alone. Similarly, for hard and high-speed alloys, the combination of ion-plasma nitriding with nitride coatings increases wear resistance by 1.5–3 times. The effectiveness of such coatings and modified layers is determined by the parameters of integrated technologies, such as ion energy, fluence, substrate temperature, and plasma atmosphere composition. Research demonstrates that combined strengthening promotes the formation of nanostructured layers, leading to microhardness up to 46 GPa, an increase in cutting tool life by up to 65 times, part wear resistance by up to 60 times, corrosion resistance by up to 3.7 times, and fatigue strength by up to 1.7 times. Particularly indicative is the increase in fatigue strength, which confirms the formation of nanostructures during combined processing. These nanostructures, such as nanocomposites with grain sizes of 10-50 nm, hinder crack propagation and enhance surface plasticity. For a deeper understanding, ion implantation involves accelerating ions (e.g., N+ or C+) to energies of 50-200 keV, modifying the surface to a depth of up to 1 μm. Plasma deposition, such as PVD or CVD, deposits layers with a thickness of 1-10 μm, creating a barrier against wear. The combination of these methods synergistically improves adhesion, reducing delamination by 1.5-2 times. In practice, for steel parts like 42CrMo4, such processing is applied in machine building for gears and shafts, extending service life in aggressive environments. Regarding hard alloys like WC-Co, plasma nitriding at 400-600°C saturates the surface with nitrogen, forming nitrides, while nitride coatings (TiN, CrN) add a protective layer. This is particularly effective for mills and drills, where wear is reduced due to a decrease in the friction coefficient to 0.1-0.3 Development prospects include integration with additive technologies for gradient structures, which will enable even higher resistance indicators. Overall, combined strengthening is key to modern materials science, ensuring resource savings and increased equipment reliability in industries from machine building to aerospace.
Copyright (c) 2025 Юрій Вячеславович Широкий, Юрій Олександрович Сисоєв, Ольга Діонісівна Семененко, Олена Василівна Торосян
Selection of a technological block scheme for EH forming of various types of sheet metal parts
The work analyzes the range of typical large-sized sheet metal parts that are typical for sheet metal stamping production in China. These group of parts includes bottoms, box-shaped parts, stiffening panels. Such productions produce sheet metal bottoms with overall dimensions of more than 1.0 m and a thickness of 0.5…2.5 mm, which are used in the construction of aviation equipment, spacecraft for various purposes and special products. Due to the special conditions of their use, strict requirements are imposed on them regarding the accuracy of shape, dimensions and distribution of thinning deformations along the surface of the part. A complicating factor in their manufacture is the small batches of their release - from prototypes to small series. A typical example of box-shaped parts are covers and pallets of electric batteries of various operating principles. A feature of their manufacturing processes is small batches of parts with frequent changes in configuration and dimensions. Quite complex in shape and size are various stiffening panels, which are used in the aviation, automotive industries, as well as in the manufacture of machines and devices for food production. Analysis of the technological features of their manufacture with the specified technical requirements allows us to conclude that it is necessary to use various stamping schemes for their shaping - stamping-extraction of the flange and stamping-forming. This allowed us to determine the main requirements for the design schemes of technological blocks. The known and proposed designs of technological blocks of EH-presses were analyzed. A conclusion was made about the rationality of their architecture - vertical architecture with powerful hydraulic cylinders for carrying out stamping-extraction processes. At the same time, the possibility of equipping them with multi-electrode discharge blocks to control the place of the desired loading of the part was considered. For stamping-forming operations, it is proposed to use designs that are similar to horizontal architecture presses with a short-stroke mechanism for pressing the part flanges. They should be equipped with multi-electrode discharge units that allow the realization of a large amount of stored energy (up to 2.5…3.0 MJ). Such installations allow the realization of simultaneous stamping of several parts. Examples of such processes are given. In conclusion, reasonable conclusions are made.
Copyright (c) 2025 Zhexin Wang, Mykhaylo Taranenko, Nataliy Kobrina
Investigation of the kinematic characteristics of a delta robot in forward and inverse kinematics problems
The article is devoted to the kinematic analysis of a delta robot, with a focus on solving the forward and inverse kinematics problems. The kinematic analysis of a delta robot primarily examines the relationship between the input angles of the servo-driven actuator arms and the spatial position of the end effector, which determines the accuracy and efficiency of the entire robotic system. Such analysis covers two key aspects: the solution of forward kinematics and the solution of inverse kinematics. The forward kinematics problem of a delta robot involves determining the coordinates of the end effector when the rotation angles of each actuated joint are known. This task is mathematically complex due to the nonlinearity of the equations and the geometric features of the parallel mechanism structure. Conversely, the inverse kinematics problem consists in calculating the rotation angles of all actuators required to achieve a predefined position of the end effector, which is critically important for tasks requiring precise positioning, manipulation, and high-speed movements. The article provides a detailed examination of the geometric model of the delta robot, presents the mathematical description of the kinematic equations for both forward and inverse kinematics, and analyzes the structural configuration features that affect the workspace, stiffness, and positioning accuracy. The issue of structural deformability becomes especially relevant in cases where the robot operates with high accelerations or under varying loads. Even small deviations in the geometry of the links may lead to accumulated errors, complicating the achievement of stable and repeatable positioning. To minimize the impact of such factors, thorough analysis of the kinematic model, refinement of stiffness parameters, and the application of compensation methods in control systems are required. The obtained results contribute to improving the accuracy of delta-robot control and optimizing its performance under high dynamic loads, making the presented research valuable for engineers, developers of robotic systems, and researchers in the field of mechatronics.
Copyright (c) 2025 Юрій Вячеславович Широкий, Юрій Олександрович Сисоєв, Юрій Олександрович Семененко, Ольга Діонісівна Семененко, Анастасія Сергіївна Сорока, Микита Павлович Ковальов
Solution of the First Fundamental Problem of Elasticity Theory for a Space with a Paraboloidal Notch and a Spherical Cavity
The paper is devoted to the development of an analytical method for solving spatial problems of elasticity theory in domains with complex geometric shapes. The application of curvilinear coordinate systems – paraboloidal and spherical – to the investigation of the stress-strain state of elastic bodies is considered. The relevance of this research is determined by the necessity of mathematical modeling of the behavior of structures containing stress concentrators in the form of paraboloidal notches and spherical cavities, which are frequently encountered in engineering practice. Basic solutions of the Lamé vector equation describing the equilibrium of an isotropic elastic body are obtained in paraboloidal and spherical coordinates. Based on the proposed addition theorems, the relations between the basic solutions of the Lamé equation in paraboloidal and spherical coordinate systems are established. These relations allow for the transition from one representation to another when specifying boundary conditions on surfaces of various geometric shapes. The method proposed in the paper is applied to solve the first fundamental boundary value problem for an elastic space with a paraboloidal notch and a spherical cavity. The case where the paraboloidal surface is free from load and hydrostatic pressure acts on the spherical cavity is considered. The solution of the boundary value problem reduces to an infinite system of linear algebraic equations with respect to the unknown expansion coefficients. It is shown that the matrix coefficients of this system possess the property of exponential decay, which significantly simplifies the numerical implementation of the algorithm. A rigorous mathematical investigation of the properties of the resulting infinite system of equations is carried out. The complete continuity of the system operator in the Hilbert space of numerical sequences is proved under certain restrictions on the geometric parameters of the problem. The conditions for quasi-regularity and complete regularity of the infinite system are established, which proves the existence and uniqueness of the solution, as well as the possibility of obtaining it by the reduction method with any preassigned accuracy. The obtained results can be used for calculating the stress-strain state of structural elements of complex shape and are of interest to specialists in the fields of mechanics of deformable solids, applied mathematics, and computational methods.
Research on Approaches to Implementing Run-Time Polymorphism in the C# Programming Language
The article examines approaches to implementing dynamic (run-time) polymorphism in the C# programming language. Polymorphism is one of the key principles of object-oriented programming, providing flexibility, reusability, and extensibility of program code. The study focuses on various mechanisms for implementing polymorphic behavior, in particular through virtual methods, abstract classes, interfaces, delegates, and the dynamic type. A comparative analysis of these approaches has been carried out, identifying their advantages, limitations, and practical areas of application. The provided code examples demonstrate the operation of each mechanism in real-world scenarios, allowing for the evaluation of their appropriateness depending on the requirements of a specific programming task. Special attention is given to ensuring compliance with the SOLID principles and the flexibility of software architecture. As a result, recommendations are formulated regarding the choice of the optimal mechanism for implementing dynamic polymorphism in different contexts. The findings may be useful for students and educators, as well as for practicing software developers.
Copyright (c) 2025 Ілона Володимірівна Шевченко, Павло Олександрович Лучшев, Оксана Вадимівна Лучшева
Information Technology for Assessing Anthropogenic Pressure on Water Bodies
The purpose of this work is to increase the objectivity of the assessments of the state of water bodies by developing a model of an information technology (IT) for evaluating anthropogenic load based on the use of spatially data. The objectives of the study are to analyze the regulatory framework governing the assessment of anthropogenic impact on water resources, to study existing methods for assessing anthropogenic load and the associated risks of failing to achieve environmental goals, and to improve the assessment process by integrating current geospatial data with archival information. Methods of geoinformation analysis of satellite images, system analysis, and functional modeling were used. Results. The requirements of current legislation concerning the monitoring of water bodies have been systematized. A set-theoretical model for assessing anthropogenic load is proposed, integrating cartographic and remote sensing data with spatial analytics. The developed IDEF0 model illustrates the sequence of processing cartographic materials, archival records, and satellite imagery to complement field observations and support the development of effective solutions aimed at achieving environmental goals. Conclusions. The objectivity of assessing anthropogenic impact in river basins is limited by fragmentary data, weak integration of spatial analysis, and low adaptability of traditional methods to climate change and intensive human activity. The paper proposes a model that reveals the structure of IT, combining cartographic, remote sensing, archival data, GIS, and digital image processing to identify sources of impact, monitor changes in river basins, and improve the accuracy of assessments of the state of water bodies for making informed decisions on achieving environmental goals. An example of the application of the developed IT in the Kharkiv region showed that currently only 38% of existing observation stations provide information on the state of water bodies in accordance with the Don River Basin Management Plan. This reduces the objectivity of the assessments provided and increases the risks of not achieving environmental goals. Therefore, the use of remote data becomes an effective source of up-to-date information for making effective environmental decisions.
Copyright (c) 2025 Світлана Юріївна Даншина, Катерина Дмитрівна Подорожко
Controlling pneumatic actuators via an Arduino controller: modeling and visualization approaches
This paper considers modern approaches to controlling pneumatic actuators using the Arduino microcontroller. Pneumatic actuators are widely used in automated systems, in particular in production lines, mechatronics and robotics, due to their simplicity of design, speed of response and safety. However, their effective control requires clear coordination of the electronic and pneumatic parts of the system, which involves modeling the dynamics of the actuator, building control algorithms and convenient visualization of the process. Arduino as an open hardware and software platform is an ideal tool for implementing prototypes of control systems. The study analyzes the main types of pneumatic actuators (single- and double-acting), electro-pneumatic valves and position sensors. The methodology for building a model of a pneumatic system in the Wokwi environment and its hardware implementation using Arduino is presented. Particular attention is paid to the development of control algorithms based on PI controllers, feedback logic and time delays that take into account the inertia and compressibility of air. The paper also describes methods for visualizing the states of a pneumatic actuator using the FluidSIM demo interface, as well as simulation in the Wokwi environment, which allows creating interactive monitoring and debugging systems. Examples of integrating pressure sensors, position sensors and displays for reading parameters in real time are given. The purpose of the research is to increase the efficiency, reliability and convenience of controlling pneumatic systems based on inexpensive and open platforms. The results can be useful for engineers, students and developers of automated systems, and will also be used in educational laboratories to demonstrate the principles of operation of pneumatic mechanisms and digital control.
Copyright (c) 2025 Денис Романович Степаненко, Олена Василівна Торосян
Development of a Data Fusion method using Extended Kalman Filter for Collaborative Robots
The article considers the development of a Data Fusion method using the Extended Kalman Filter (EKF) to enhance the efficiency of collaborative robots operating in Industry 5.0 production scenarios, where the key task is to ensure adaptability, safety, and accuracy of human–machine interaction. The object of the study is the process of processing signals from heterogeneous sensors - the OV5647 camera, the HC-SR04 ultrasonic sensor, the MPU6050 inertial module, and odometry - which together form a multisensor information system of a mobile manipulator robot. The subject of the research includes models, methods, and algorithmic support for data integration aimed at creating a consistent and unified representation of the robot’s state and its surrounding environment. The goal is to develop a robust and adaptive information fusion method that compensates for measurement errors, reduces noise impact, and improves the consistency of sensor readings under dynamically changing environmental conditions. Within the study, an implementation of the EKF is proposed, in which the system state is predicted using a physical motion model, and subsequent updates are performed for each sensor considering their frequency and signal delays. The mathematical formulation of the method includes nonlinear process and measurement models, covariance matrices, Jacobian derivatives, and innovation estimation, which together ensure the filter’s stability even in the presence of stochastic disturbances and measurement noise. Numerical simulations have shown that the “raw” sensor data are characterized by different mean values and dispersions (for example, HC-SR04 – 100 cm with ±20 cm deviation, camera – 50 cm with ±5 cm deviation), whereas the fused data demonstrate a smoothed trajectory with an average of about 68–70 cm and reduced variance to 8–10 cm. This indicates effective noise suppression and improved localization accuracy. The developed algorithm also provides robustness against temporary sensor signal loss, enables real-time state estimation, and supports asynchronous processing of multi-frequency data streams. The use of the Mahalanobis distance metric for measurement association improves the accuracy of relevant data selection, minimizes the influence of false observations, and enhances the safety of human–robot interaction. The results confirm that applying the Extended Kalman Filter in the Data Fusion process significantly improves distance estimation quality, navigation accuracy, motion smoothness, and control reliability under conditions of incomplete information. The conclusions emphasize that the proposed method is universal, scalable, and suitable for integration into adaptive control systems of next-generation collaborative robots operating in complex and uncertain environments within the framework of the Industry 5.0 concept.
Copyright (c) 2025 Murad Omarov, Elgun Jabrayilzade
In the life of the Universe, a special role belongs to electromagnetic radiation emanating from the stars of galaxies and giving up its energy to the vacuum structures. This radiation consists of photons, about which there is little information. An attempt is made to obtain some additional information about these particles by simulating the production of a particle-antiparticle pair during a collision of two photons on opposite courses (the Bright-Wheeler process). Within the framework of the approach under consideration, it turns out that the photon energy is only partially electromagnetic in nature. Its main part has a different origin. Moreover, the ratio of the electromagnetic part of the photon energy to its total energy is equal to the fine structure constant α. The presence of an unknown form of energy in a quantum with a relatively large share (99.27%) allows us to assume that photons may exist without an electromagnetic component at all - "dark photons". In the case of the real existence of dark photons, the mechanism of transferring stellar electromagnetic energy to vacuum structures may be more complex. In addition, the presence of a large number of dark photons in space will significantly affect the gravitational environment, since clusters of such particles produce large clouds of light and hidden dark matter. The latter should affect the rotation curves of galaxies and their clusters, reducing the existing discrepancies between the calculated and observed results.
Copyright (c) 2025 Анатолій Миколайович Нарожний
Architecture of an Information System for Supporting Distance Learning of Python Programming in the Global Economic Education Environment
The article proposes an Information System (IS) architecture designed to overcome the limitations of traditional Learning Management Systems (LMS). The proposed architecture is based on a microservice approach, ensuring high fault tolerance, development flexibility, and independent scaling of individual functional blocks. The key technological solution is the use of containerization based on Docker and orchestration using Kubernetes. This technological coupling allows for the implementation of two critically important subsystems: Isolated In-Browser Integrated Development Environment (In-Browser IDE): Each user receives a personal, isolated container (sandbox), which includes the necessary Python libraries, compilers, interpreters, and web servers (for web technology tasks). This eliminates issues associated with local environment setup and ensures the identity of the learning and assessment environments. Thanks to containerization, students can safely execute complex OOP projects and deploy full-fledged web applications directly in their web browser. High-Performance Automated Assessment Subsystem (Auto-Grading Engine): This subsystem also operates on a container basis. It is capable of parallel launching and testing the code of thousands of students using isolated virtual machines or containers to prevent misuse. Assessment includes not only functional tests but also checks for compliance with OOP principles (interfaces, inheritance, polymorphism), web application architecture, and code quality (style, efficiency, presence of vulnerabilities). Furthermore, the architecture includes a Learning Content Management Module with support for code versioning (e.g., Git integration) and an Analytics Subsystem that tracks student progress, time spent on problem-solving, and identifies typical errors, providing adaptive feedback to instructors and the students themselves. The implementation of this IS in the educational process will contribute to the training of qualified IT specialists who possess practical development skills and are able to effectively solve current economic and technological problems in the global market. The research results provide a scientific and methodological basis for modernizing the technical component of global economic education.
Copyright (c) 2025 Тетяна Леонідівна Столяренко
The influence of a magnetic field on the electrical parameters of QFS-graphene Hall sensors
In this work, a comprehensive study of the field and magnetoresistive properties of Hall sensors based on quasi-free-standing (QFS) graphene was conducted to assess their stability and performance in strong magnetic fields. Graphene-based Hall sensors attract significant attention due to the unique electronic properties of the material, including high carrier mobility, two-dimensional structure, and quantum nature of conductivity, which enable record-high sensitivity and magnetoresistance. Special attention was given to QFS graphene, which is characterized by low defect density and minimal magnetoresistive effects, making it promising for the development of high-precision Hall sensors. For the experimental investigations, the Hall sensors were fabricated as thin-film structures with a uniform layer of QFS graphene. Measurements were carried out using a specialized setup with an electromagnet capable of generating a controlled magnetic field up to ±0.5 T, and precise signal registration was ensured by highly sensitive nanovoltmeters. The samples were rotated in the magnetic field in 5° increments to study the angular dependence of resistance and the Hall signal, and the results were normalized according to the theoretical functions cosθ and cos²θ to evaluate conformity with classical magnetoresistive behavior. The results showed that the Hall signal of QFS-graphene Hall sensors exhibits a clearly linear dependence on the magnetic field with high approximation accuracy (average error ≈ 0.09 %), indicating material homogeneity and stable electronic transport. The parasitic offset signal was found to depend on the magnetic field and exhibited primarily quadratic behavior, suggesting a magnetoresistive origin. This dependence is explained by the influence of magnetoresistive mechanisms on the resistive nature of the offset signal, particularly through geometric asymmetries, conductivity inhomogeneities, and contact resistances, which alter the current distribution in the sample under an external field. Analysis of the angular dependence of sheet resistance showed that, for most samples, the magnetoresistive effect did not follow the classical quadratic cos²θ dependence, while some sensors exhibited a harmonic, cosinusoidal dependence in good agreement with the theoretical cosθ function, corresponding to the orbital mechanism of magnetoresistance in graphene. For some samples, a negative magnetoresistive effect was observed, correlating with -cosθ, which aligns with literature data on the influence of defects and carrier localization on the sign of magnetoresistance. Additional factors, such as the simultaneous presence of electron and hole conduction and the influence of local electron and hole regions, may compensate contributions from different carriers, weakening the manifestation of magnetoresistance at low magnetic fields. The obtained results demonstrate that QFS-graphene Hall sensors combine high sensitivity, linear response, and minimal magnetoresistive effects, making them promising for applications in high-field measurement systems, magnetic diagnostics, and thermonuclear reactor control systems. This study allows for refinement of the design principles for Hall sensors in extreme magnetic field conditions, considering the influence of structural disorder and orbital effects on electronic transport in graphene.
Copyright (c) 2025 Роман Васильович Біляк, Наталія Степанівна Лях-Кагуй