We show a correspondence between the compact exceptional curves and divisors on $G-{\rm Hilb}(\mathbf{C}^3)$ and some non-trivial irreducible representations of $G \subset GL(n,C)$ which are special (or essential). Moreover, we provide an explicit construction of the small resolution of $G-{\rm Hilb}(\mathbf{C}^3)$ and, using this resolution, we construct a correspondence between special and essential representations. These results are an extension of ``Special McKay correspondence'' and ``Reid's recipe''.
To address the low estimation accuracy of the Crop Water Stress Index (CWSI) directly induced by imprecise extraction of plant canopy temperature (Tc) from thermal infrared (TIR) imagery, this study used UAV visible imagery of winter wheat under different water and nitrogen regimes to calculate the Green Leaf Index (GLI) for canopy mask construction, which was then overlaid with TIR imagery to extract Tc, and subsequently multi-gradient extreme pixel elimination ratios were applied to identify the optimal method for Tc extraction. Subsequently, the extracted Tc are categorized into distinct pixel distribution intervals based on the standard normal distribution, and the interval-specific Crop Water Stress Index (CWSIF) is calculated using the mean canopy temperature (TF) of each interval. Thereafter, rigorous regression analysis was performed for the derived CWSIF variants against key crop physiological indicators to determine the most sensitive CWSIF values corresponding to each indicator for subsequent practical applications. The results indicate that proper removal of extreme pixels enhanced the consistency between UAV TIR-retrieved temperature and in-situ measured temperature. Excluding 3 % of extreme pixels from both ends of the Tc distribution histogram yielded a relatively optimal level of this consistency, thus enabling more accurate characterization of the actual Tc of crop. CWSIF values derived from the TF across different Tc pixel distribution intervals differed significantly. Regression analysis showed that the sensitive CWSIF corresponding to stomatal conductance (Gs), transpiration rate (Tr), and net photosynthetic rate (Pn) differed significantly, requiring a comprehensive evaluation integrating multiple physiological indicators. For the scientific diagnosis of crop water status, the entropy weight method was employed to assign weights to the evaluation indicators of Gs, Tr, and Pn. Based on these weights, a linear weighted summation model was used to obtain the comprehensive score. and the optimal CWSIF that reflects the characteristics of multiple physiological indexes was determined for each growth stage: the optimal index was CWSI-0.5 during the jointing stage and flowering stage, and CWSI-0.3 during the filling stage. This solves the problem of inconsistent evaluation of CWSIF by different physiological indicators and improves the pertinence and accuracy of water stress diagnosis. Across all growth stages, the coefficient of determination (R²) between the optimal CWSIF and plant water content (PWC) was consistently higher than that between the traditional CWSIT (CWSI calculated based on the average value of all Tc) and PWC, while the normalized root mean square error (nRMSE) of the former was consistently lower than that of the latter. This indicated that CWSIF can reflect the water status of crop more efficiently and accurately than CWSIT. The findings of this study provide a reliable technical basis for monitoring water stress and implementing staged precision irrigation in winter wheat.
Giovanna Takano Natti, Érica Regina Takano Natti, Paulo Laerte Natti
We present a review of the current and future industrial applications of neutrinos. We address the industrial applications of neutrinos in geological and geochemical studies of the Earth's interior, in monitoring earthquakes, in terrestrial communications, in applications for submarines, in monitoring nuclear power plants and fusion reactors, in the management of fissile materials used in nuclear plants, in tracking nuclear tests, among other applications. We also address future possibilities for industrial applications of neutrinos, especially concerning communications in the solar system and geotomography of solar system bodies.
In this study, we propose a fuzzy system for conducting short-term transactions in the forex market. The system is designed to enhance common strategies in the forex market using fuzzy logic, thereby improving the accuracy of transactions. Traditionally, technical strategies based on oscillator indicators have relied on predefined ranges for indicators such as Relative Strength Index (RSI), Commodity Channel Indicator (CCI), and Stochastic to determine entry points for trades. However, the use of these classic indicators has yielded suboptimal results due to the changing nature of the market over time. In our proposed approach, instead of employing classical indicators, we introduce a fuzzy Mamdani system for each indicator. The results obtained from these systems are then combined through voting to design a trading robot. Our findings demonstrate a considerable increase in the profitability factor compared to three other methods. Additionally, net profit, gross profit, and maximum capital reduction are calculated and compared across all approaches.
Annalena Daniels, Sebastian Kerz, Salman Bari
et al.
Autonomous robotic grasping of uncertain objects in uncertain environments is an impactful open challenge for the industries of the future. One such industry is the recycling of Waste Electrical and Electronic Equipment (WEEE) materials, in which electric devices are disassembled and readied for the recovery of raw materials. Since devices may contain hazardous materials and their disassembly involves heavy manual labor, robotic disassembly is a promising venue. However, since devices may be damaged, dirty and unidentified, robotic disassembly is challenging since object models are unavailable or cannot be relied upon. This case study explores grasping strategies for industrial robotic disassembly of WEEE devices with uncertain vision data. We propose three grippers and appropriate tactile strategies for force-based manipulation that improves grasping robustness. For each proposed gripper, we develop corresponding strategies that can perform effectively in different grasping tasks and leverage the grippers design and unique strengths. Through experiments conducted in lab and factory settings for four different WEEE devices, we demonstrate how object uncertainty may be overcome by tactile sensing and compliant techniques, significantly increasing grasping success rates.
Using convolutional neural networks (CNNs) to detect plant diseases has proven to reach high accuracy in the classification of infected and non-infected plant images. However, most of the existing researches are based on RGB images due to the availability and the comparably low cost of image collection. The limited spectral information restricts the detectability of plant diseases, especially in the early stage where often symptoms of pathogen infection have not yet become visible. To this end, in this study, hyperspectral imaging (HSI) data are combined with deep learning models to test the classification ability of two soybean fungal diseases: Asian soybean rust (Phakopsora pachyhizi) and soybean stem rust (Sclerotinia scleroriorum). Different CNNs employing 2D, 3D convolution, and hybrid approaches are compared. The influences of the depth of the convolutional layer and the regularization techniques are also discussed. Besides, image augmentation methods are investigated to overcome the problem of data scarcity. The results indicate the 6-convolutional-layer depth hybrid model to have the best capacity in classifying Asian soybean rust in the early-mid to mid-late stage when there are over 2 % visible symptoms but a limited detectability in the early stages when there are below 2 % visible symptoms on leaves. On the other hand, the optimized CNN model shows a limited capability to detect both diseases when there are no visible symptoms observable. Overall, this study suggests a hybrid 2D-3D convolutional model with augmentation and regularization methods has a high potential in the early detection of fungal diseases. This research is expected to contribute to a new cropping system that vastly reduces the chemical-synthesis plant protection products, where a continuous pathogen disease monitoring plays a key to manage the crop stands.
Giampaolo Cuozzo, Enrico Testi, Salvatore Riolo
et al.
The Industrial Internet of Things (IIoT) paradigm has emerged as a transformative force, revolutionizing industrial processes by integrating advanced wireless technologies into traditional procedures to enhance their efficiency. The importance of this paradigm shift has produced a massive, yet heterogeneous, proliferation of scientific contributions. However, these works lack a standardized and cohesive characterization of the IIoT framework coming from different entities, like the 3rd Generation Partnership Project (3GPP) or the 5G Alliance for Connected Industries and Automation (5G-ACIA), resulting in divergent perspectives and potentially hindering interoperability. To bridge this gap, this article offers a unified characterization of (i) the main IIoT application domains, (ii) their respective requirements, (iii) the principal technological gaps existing in the current literature, and, most importantly, (iv) we propose a systematic approach for assessing and addressing the identified research challenges. Therefore, this article serves as a roadmap for future research endeavors, promoting a unified vision of the IIoT paradigm and fostering collaborative efforts to advance the field.
Introduction. Biorelevant dissolution media reconstitute the composition of the contents of the gastrointestinal tract. They are used as dissolution media in the evaluation of dissolution profiles of different dosage forms. Simulated biological fluids allow prediction of in vivo test results. The development of the composition of simulated salivary fluid allows the evaluation of drug properties under physiologically relevant conditions.Aim. Evaluation of the release of the drug product "glycine, sublingual tablets, 100 mg", domestically produced in Simulated Saliva 5 pH 6.8.Materials and methods. The preparations used for analysis were: «Glycine, sublingual tablets, 100 mg», domestically produced with valid expiration date. Comparative dissolution kinetics test was carried out on the dissolution test apparatus DT 6 (ERWEKA GmbH, Germany). Chromatographic separation and detection were performed on a Waters W1525 Binary HPLC Pump high-performance liquid chromatograph (Waters Corporation, USA) equipped with column and sample thermostat, degasser, autosampler and Waters 2487 Dual Absorbance Detector (Waters Corporation, USA). Detection was performed at a wavelength of 254 ± 2 nm after derivatization of the glycine molecule with 4-toluenesulfonyl chloride. A Grace Platinum C18-EPS 5 μm 4.6 × 250 mm Grace Platinum C18-EPS 5 μm 4.6 × 250 mm column (Grace, USA) and a Grace Platinum C18-EPS 5 μm 4.6 × 250 mm pre-column (Grace, USA) were used. The following software was used for the study: validated Microsoft Excel spreadsheet for calculating glycine release values.Results and discussion. The technique for quantitative determination of glycine was developed and validated under CDKT in purified water medium and Simulated Saliva 5 pH 6.8. The validated analytical range of the methodology was 10–110 % of the nominal concentration of the dosage form in 300 mL volume of medium. The developed analytical technique was validated in the biopredictive in vitro test of glycine preparations. During the study in Simulated Saliva medium for drug formulations, more discriminative data were obtained, which were expressed as: different dissolution rate, curvature of the slope of the dissolution profile and time to reach the plateau in contrast to the dissolution medium purified water.Conclusion. The quantification technique was developed and validated for biopredictive tests of tablets "Glycine, sublingual tablets, 100 mg". The analytical range of the technique was 10–110 % of the nominal concentration of the dosage form in 300 mL volume of medium. The results of the test in artificial saliva medium were more discriminatory.
Thaynara Oliveira Militão, Gizelly Braga Pires, Bruno Rodrigues Alencar
et al.
Introdução: O PET-Saúde GraduaSUS tem como objetivos desenvolver estratégias que tenha o SUS como cenário integrado de práticas. O grupo tutorial Farmácia da UEFS-BA tem atuado em dois eixos de intervenção: mudanças curriculares e qualificação dos processos de integração ensino-serviço-comunidade. ObjetivO: Relatar as atividades desenvolvidas pelo grupo tutorial PET-Saúde GraduaSUS/Farmácia UEFS-BA no eixo de intervenção integração ensino-serviçocomunidade. Métodos: Trata-se de um relato de experiência das atividades desenvolvidas no eixo intervenção integração ensino-serviço-comunidade pelo PET-Saúde GraduaSUS/Farmácia, no período de maio de 2016 a março de 2017. Os sujeitos envolvidos foram estudantes da área de saúde e profissionais da rede de atenção básica do município de Feira de Santana-BA. Os cenários de práticas são 8 Unidades de Saúde da Família (USF) situadas em territórios de dois bairros. As atividades foram organizadas em dois momentos: diagnóstico situacional e intervenção. Resultados: O diagnóstico situacional teve como objetivo coletar informações acerca das USF: território de abrangência; estrutura física; recursos humanos (organização das equipes, número e categorias profissionais que a compõe) e financeiros; planejamento e programação da oferta dos serviços; processo de gerenciamento de resíduos sólidos etc. Esse momento permitiu identificar que as ações futuras do PET deveriam enfatizar a organização da farmácia das unidades de saúde e a promoção da prescrição racional. De modo a intervir nos problemas diagnosticados foram realizadas visitas aos prescritores para esclarecimentos acerca da organização da Assistência Farmacêutica (AF) no SUS e dos instrumentos técnicos e legais da AF, sendo distribuídos Remume, Rename, FTN, elenco da Farmácia Popular do Brasil (impressos), PCDT, protocolos de segurança do paciente e manuais para prescrição racional (digital). Para a organização das farmácias foi elaborado o Manual de Boas Práticas e Procedimentos Operacionais Padrão. A capacitação de estudantes e profissionais de saúde foi realizada através dos seguintes eventos: Palestras- AF no SUS: atuação do farmacêutico na gestão da AF e na Estratégia Saúde da Família; Cuidados na prescrição de medicamentos para idosos; Seminários- AF na Atenção Básica em Feira de Santana; Consulta do enfermeiro à pessoa idosa; e duas oficinas- Prescrição de Medicamentos no SUS com ênfase no Uso Racional de Medicamentos (URM). Conclusão: As experiências desenvolvidas no PET-Saúde/GraduaSUS-Farmácia têm contribuído para fortalecer o processo de ensino-aprendizagem e intensificar a articulação ensino-serviço-comunidade.
Pharmacy and materia medica, Pharmaceutical industry
The current macroeconomic and political conditions, and above all technological progress, mean that in recent years the condition of the cooperative banking sector has been gradually deteriorating compared to commercial banks. The above premises give grounds to claim that the current operating model of the entire group of cooperative banks, as well as of a single cooperative bank, should be redefined. Remaining with the current models of operation of cooperative banks will maintain the trend of sector consolidation, departure from the idea of cooperatives and moving towards models attributed to commercial banks. The aim of the study was therefore an attempt to present one of the possible concepts for the development of a small cooperative bank as an alternative to the consolidation processes of the cooperative banking sector. An attempt was made to answer the question whether there is space for the functioning of a boutique cooperative bank and what a boutique cooperative bank is and what it can be. The focus was on presenting and transferring the concept of a boutique bank to cooperative banks. Examples of the functioning of boutique financial institutions were presented, which were an inspiration to build a model of a boutique cooperative bank. Solutions were analyzed and various variants of the functioning of commercial boutique banks were discussed as examples of the real success of this form of banking activity. On this basis, an attempt was made to present models of functioning of a boutique cooperative bank.
Laura Murta Amaral, João C. Bana e Costa, Ana Flávia Alves dos Santos
Objetivos: Avaliação do desempenho da alfa-alglicosidase e do tratamento de suporte (SOC) para doença de Pompe de início tardio, sob a perspectiva do SUS com base em MCDA. Métodos: Uma revisão da literatura identificou o conjunto de critérios e os desempenhos dos tratamentos. O método MACBETH foi usado num ambiente de conferência de decisão para construir um modelo multicritério para cada grupo de stakeholders: médicos especialistas, representantes de associações de pacientes (PAGs), gestores do sistema público de saúde e especialistas em Avaliação de Tecnologias em Saúde (ATS). Com a ajuda do DSS Wisedon foram determinados pesos para os critérios e pontuações para as terapias. Resultados: A revisão da literatura identificou os seguintes critérios: mortalidade, impacto terapêutico, capacidade vital forçada (CVF), teste de caminhada em 6 minutos (TC6M), segurança, custo anual do tratamento e impacto orçamentário (BIA). O grupo de especialistas em ATS decidiu remover os critérios impacto terapêutico e BIA. Mortalidade foi o critério com maior peso para o grupo de médicos (25%) e gestores (22,82%), seguido por impacto terapêutico (21,43% e 20,83%) e critérios de eficácia (TC6M e CVF). Para o grupo de PAGs, os critérios mortalidade e impacto terapêutico também foram aqueles de maior ponderação (21% cada), seguido também pelos critérios de eficácia. Para especialistas em ATS, o custo anual de tratamento apresentou maior peso (51,52%), seguido pelo TC6M (21,21%) e mortalidade (15,15%). Em todos os grupos, a segurança foi o critério com o menor peso. Quanto à pontuação global, PAGs, médicos e gestores indicaram uma maior pontuação para alfa-alglicosidase na comparação com SOC (81,48 vs 14,29, 85,71 vs 14,29 e 86,11 vs 13,89), com uma vantagem de, no mínimo, 62,96 pontos. Para especialistas em ATS, SOC resultou em maior pontuação (45,45 vs 54,55), com uma vantagem de 9,1 pontos. Conclusões: O estudo demonstra a aplicação de MCDA como suporte ao processo decisório. Para três grupos, mortalidade e impacto terapêutico foram os critérios mais importantes na análise, seguido de eficácia. Embora os três grupos tenham apresentado diferentes estruturas de preferências, observou-se que a terapia alfa-alglicosidase apresentou maior pontuação global vs SOC. Especialistas em ATS concentraram mais de metade dos pesos dos critérios no custo anual de tratamento, resultando em uma maior pontuação global para a SOC. O resultado dos três primeiros grupos apresentou elevada robustez, admitindo alterações dos pesos dos critérios em 30 pontos percentuais. Já no caso do grupo de ATS, uma alteração do peso do critério custo anual do tratamento em 4,52 pontos percentuais seria suficiente para levar a terapia alfa-alglicosidade a ser a mais bem pontuada.
Pharmacy and materia medica, Pharmaceutical industry
Climate warming has increased the frequency of droughts and excessive precipitation, adversely affecting crop growth, particularly under traditional intensive tillage. No-till improves crop tolerance to extreme events by reducing soil evaporation and improving soil structural stability to enhance soil water storage capacity and crop resistance, but long-term mono-no-till cakes the soil, reducing crop yield. Combining intensive tillage with no-till can compensate for some deficiencies arising from conventional tillage or single no-till. A three-year field experiment was conducted in wet (2020) and normal (2019 and 2021, where a drought event occurred in 2021) years to study the effect of tillage practices on summer maize productivity under different precipitation types. Treatments included conventional tillage (CT), no-tillage (NT), ridge cultivation with no-tillage (RNT), and conventional tillage of winter wheat combined with no-tillage of summer maize (NC). Compared with NT, NC and RNT significantly reduced soil bulk density and increased soil porosity in the 0–20 cm soil layer. Compared with CT, NC and RNT significantly improved aggregate stability, NC increased available soil water storage by 19.7% in the dry season (P < 0.05), and NC and RNT significantly reduced lodging rate in the rainy season. Over the three years, NC and RNT maintained higher maize yields (NC: 10.3 t ha–1 and RNT: 10.0 t ha–1) than CT (9.2 t ha–1), and NC had significantly higher yield stability than CT. Meanwhile, NC and RNT had higher precipitation use efficiency (PUE; NC: 21.2 kg ha–1 mm–1, RNT: 20.7 kg ha–1 mm–1) than NT (20.1 kg ha–1 mm–1) or CT (19.1 kg ha–1 mm–1). In terms of combined productivity, NC and RNT provide a more suitable soil environment for crop growth and maintain higher yield than NT and CT. NC rotation is recommended as the optimal tillage system for sustainable crop production under semi - arid agricultural conditions. RNT can be extended to areas prone to flooding with abundant rainfall. These results offer a benchmark for future studies on regional maize production under climate change.
Background and Aims. The cultivation of grapevines in England is expected to benefit under climate change. Yet assessments of future wine climates remain undeveloped. Accordingly, this study assesses how climate change might modify frost risk for Chardonnay in the Southeast England viticulture region. Methods and Results. Cold-bias-corrected climate projections from the UKCP18 Regional (12 km) perturbed parameter ensemble (PPE) climate model under RCP8.5 are applied with phenological models to determine how frost risk and the timing of key grapevine phenophases might alter under climate change. Notwithstanding the uncertainties associated with projections of key viticulture-related bioclimate variables, the last spring frost was found to advance at a greater rate than budburst, indicating a general decrease in frost risk. Conclusions. Although projections point to an improving climate for viticulture across Southeast England, frost will remain a risk for viticulture, albeit at a reduced level compared to the present. Furthermore, the strong cold-bias found for temperature simulations used in this study needs to be given careful consideration when using the UKCP18 projections for viticulture impact assessments of climate change. Significance of the Study. This study highlights the present sensitivity of viticulture to climate variability and the inherent uncertainty associated with making future projections of wine climate under climate change.
Ahmad Bahrul Munir, Sri Sundari, Nanang Dwi Wahyono
Tanaman bunga telang (Clitoria ternatea L) merupakan salah satu komoditas pertanian yang berpotensi untuk dikembangkan. SMK Negeri 1 PP Kabupaten Bondowoso merupakan lembaga pendidikan yang saat ini sedang mengembangkan potensi tanaman bunga telang menjadi produk bunga telang celup. Penelitian ini bertujuan menganalisis pengembangan model bisnis produk bunga celup telang. Sampel dalam penelitian ini adalah responden ahli yang memiliki kemampuan dan kapabilitas dalam memberikan penilaian terhadap aspek pengembangan produk. Metode yang digunakan adalah metode kualitatif dan kuantitatif dengan menganalisis Business Model Canvas dan menghitung expert judgment dengan menghitung perbandingan multiparticipant (geomean). Hasil analisis menunjukkan bahwa terdapat 6 aspek pengembangan bisnis pada blok mitra kunci, 3 aspek pengembangan bisnis pada blok aktivitas utama, 5 aspek pengembangan bisnis pada blok sumber daya utama, 4 aspek pengembangan bisnis pada nilai. blok proposisi, 4 aspek pengembangan bisnis pada blok hubungan pelanggan, 5 aspek pengembangan bisnis pada blok saluran, 5 aspek pengembangan bisnis pada blok segmen pelanggan, 3 aspek pengembangan bisnis pada blok struktur biaya, dan 4 aspek pengembangan bisnis di blok aliran pendapatan
Katarzyna Świątek, Maciej P. Olszewski, Andrea Kruse
Abstract 5‐hydroxymethylfurfural (HMF) is the object of extensive research in recent times. The challenge in the industrial production of HMF is the choice of cheap, hexose feedstock. This study compares continuous HMF synthesis from hexoses—fructose and glucose, and biomass—Miscanthus × giganteus and chicory roots. The experiments were conducted in technical‐scale biorefinery (TRL 6/7). In the first stage, optimal conditions for the production of HMF from hexoses were selected using sulfuric acid as a catalyst in an aqueous medium. The following conditions were chosen for fructose: temperature of 200°C, the reaction time of 18 min, and pH = 2, and for glucose: 210°C, 18 min, and pH = 3. Under these conditions, the HMF yield was 56.5 mol% (39.6 wt.%) from fructose and 18.1 mol% (12.6 wt.%) from glucose. From the biomass, the HMF yields were 36.7 and 16.2 wt.% for miscanthus and chicory roots, respectively. Some results from the conversion of biomass solutions are unexpected and show a need for further investigations. This work has demonstrated the capacity to produce HMF from biomass as part of an environmentally friendly process in a biorefinery. Further research in this field and process optimization will be a step forward in the sustainable production of bioplastics.
Renewable energy sources, Energy industries. Energy policy. Fuel trade
Multi exposure image fusion (MEF) provides a concise way to generate high-dynamic-range (HDR) images. Although the precise fusion can be achieved by existing MEF methods in different static scenes, the corresponding performance of ghost removal varies in different dynamic scenes. This paper proposes a precise MEF method based on feature patches (FPM) to improve the robustness of ghost removal in a dynamic scene. A reference image is selected by a priori exposure quality first and then used in the structure consistency test to solve the image ghosting issues existing in the dynamic scene MEF. Source images are decomposed into spatial-domain structures by a guided filter. Both the base and detail layer of the decomposed images are fused to achieve the MEF. The structure decomposition of the image patch and the appropriate exposure evaluation are integrated into the proposed solution. Both global and local exposures are optimized to improve the fusion performance. Compared with six existing MEF methods, the proposed FPM not only improves the robustness of ghost removal in a dynamic scene, but also performs well in color saturation, image sharpness, and local detail processing.
Understanding the high-tech industrial agglomeration from a spatial-spillover perspective is essential for cities to gain economic and technological competitive advantages. Along with rapid urbanization and the development of fast transportation networks, socioeconomic interactions between cities have been ever-increasing, traditional spatial metrics are not enough to describe actual inter-city connections. High-skilled labor flow between cities strongly influences the high-tech industrial agglomeration, yet receives less attention. By exploiting unique large-scale datasets and tools from complex network and data mining, we construct an inter-city high-skilled labor flow network, which was integrated into spatial econometric models. Our regression results indicate that spatial-spillover effects exist in the development of high-tech industries in the Yangtze River Delta Urban Agglomeration region. Moreover, the spatial-spillover effects are stronger among cities with a higher volume of high-skilled labor flows than among cities with just stronger geographic connections. Additionally, we investigate the channels for the spillover effects and discover that inadequate local government expenses on science and technology likely hamper the high-tech industrial agglomeration, so does the inadequate local educational provision. The increasing foreign direct investments in one city likely encourages the high-tech industrial agglomeration in other cities because of the policy inertia toward traditional industries.
Задачі оптимізації режимів руху механічних систем, зокрема роботів та маніпуляторів, є актуальною в контексті сучасного розвитку суспільства та машинобудування. Роботи і маніпулятори здатні автономно виконувати складні задачі по заданих програмах керування, що значно знижує вартість виконуваних ними робіт. Алгоритми оптимальних переміщень складових елементів роботів і маніпуляторів дозволяють реалізовувати складні траєкторії переміщень їхніх робочих органів з прогнозованими енерговитратами, точністю позиціювання, швидкодією. Пошук оптимальних режимів руху є складною і не однозначною задачею, що вимагає точного формулювання функції оптимізації, рівнянь обмежень та методів визначення оптимальних законів, які б задовольняли критерії поставленої оптимізаційної задачі. Одним із шляхів вирішення таких складних задач є евристичні методи перебору варіантів розв’язку на обмеженій площині, зокрема одним з таких є методів рою частинок.
В даному досліджені проаналізовано класичний метод рою частинок для пошуку оптимального режиму руху стріли маніпулятора за однієї з узагальнених координат. Цільовою функцією оптимізації вибрано «енергію» прискорень механічної системи, а пошук оптимального закону переміщення здійснюється із застосуванням полінома четвертого порядку.
Проведене теоретичне дослідження показало, що метод рою частинок може бути застосований для пошуку оптимальних законів руху, проте при роботі з даним методом необхідно модернізувати алгоритм визначення його складових, зокрема швидкості переміщення частинок та їх корегувальних коефіцієнтів.
При визначенні оптимальних законів руху маніпулятора методом рою в даному дослідженні застосовується підхід, де прийнято, що час є дискретним, а значення цільової функції визначалося лише в прийнятих точках дискретизації часу.