Today, construction machines are widely used, which can be used in hazardous and toxic working environments, in other adverse environments, and in places where it is very difficult for a human operator to control the machine. At the same time, in the current difficult economic situation, it is important to increase the productivity of these construction machines in the mining, construction, and manufacturing sectors. Due to the versatility and convenience of hydraulically driven manipulators among construction machines, they occupy the majority of equipment used in mining or construction work. Vibration machines are used in many technological processes for the removal of hard rocks and other materials in the work performed by hydraulic excavators. This paper considers a hydraulically driven drilling robot with four degrees of freedom. These are machines and equipment based on lever mechanisms of variable structures, which have a number of advantages over analogs. The use of mechanisms of variable structures significantly increases the reliability of vibration shocks, their design is simple and does not require imported materials and components. This is especially important for machines operating in difficult mountain conditions. Under the above operating conditions, semi-automatic or fully computer-controlled machines can work successfully and efficiently. To do this, it is important to understand the kinematics of this machine. therefore, the article describes the sequence of actions required to solve the direct problem of kinematics directed at a drilling robot with four degrees of freedom. © 2023, al-Farabi Kazakh State National University. All rights reserved.

In this work, we studied the kinetostatics and stress-strain state of the links of the actuator mechanism of the exoskeleton of the lower limb. The main results of the work include obtaining reaction values in the kinematic pairs of the mechanism, analysis of the stress-strain state of the links in various positions of the mechanism in the support phase. In the load transfer phase, only the gravity forces of the links and the human foot are applied to the mechanism. Key parameters describing the stress-strain state of the links in this phase were obtained. Particular attention is paid to determining the position at which maximum stresses arise in the sections of the links. A comparative analysis of existing exoskeleton designs and new functional capabilities was carried out: a closed kinematic chain, rational structural synthesis, a combined-type actuator mechanism with decomposition of motion by degrees of mobility and with a gravitationally independent topology, which will minimize the number of active power drives. The results of the study can be used to optimize the design of the exoskeleton, as well as to develop recommendations for the use and adjustment of the mechanism in order to reduce stress in the links and increase the efficiency of the device. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

The study of the material composition of gold-bearing ores includes the determination of quantitative chemical and mineral composition, forms of noble metals, granulometric composition, and physical and mechanical properties to choose the direction for the development of an effective technology of their complex enrichment. This work is devoted to the study of the material composition of refractory gold-bearing ore of Aktobe deposit. It was determined that the content of gold is 1.55-1.6 g/t, the mass fraction of silver is 42-43 g/t, and the content of sulphur is low and is 1-1.1% respectively. Of non-ferrous metals, zinc 0.17%, and lead 0.15% are present in insignificant amounts, and the content of harmful impurities antimony and arsenic are insignificant and amounted to 0.01 and 0.05%. The ore sample has a relatively uncomplicated mineral composition: rock-forming minerals represented by quartz, potassium feldspar, calcite, and mica predominate significantly. Ore minerals are represented by pyrite up to 10 %, limonite up to 0.5 %, galena 0.15-0.2 %, sphalerite 0.17-0.2 % and gold. Physical and mechanical properties of the ore were determined. According to the category of crushability, the ore belongs to the category of medium hardness. According to Bond's method, the "index of network Wi" of ball milling was determined for the initial ore, which was 19.3 kW∙h/t∙μm0.5. Based on the obtained data on the study of material composition, further research will be directed to the study of gravity and flotation enrichment.

A significant number of properties of composites based on polycarbonates, unfilled and filled with 10 - 30 % short glass fibers of E-glass, treated with 3-(aminopropyl) triethoxy silane, were studied. The purpose of the study is to determine whether these composites can be used to manufacture impellers for centrifugal pumps. It was found that with increasing the amount of filler, the properties of polycarbonate composites change as follows: in general, the physico-mechanical parameters (all modules, tensile strength), stiffness and flexural strength increase, maximum deformation, as well as elastic and impact resistance decrease somewhat. The volume and surface resistivity decrease, the coefficient of thermal conductivity increases. The main reason for these changes in the properties of the composites is the good adhesion at the polymer matrix-fiber interphase which is attributed to the strong physical interaction due to silane used and as a result of the good wetting of the fibers from the polycarbonate matrix and improved compatibility. Based on the results obtained, it can be concluded that polycarbonate composites, filled with 10 - 30 % short glass fibers can be successfully used for the production of centrifugal pumps impellers, as they meet a significant number of requirements for materials with such application. © 2022,Journal of Chemical Technology and Metallurgy.All Rights Reserved

Pyrite tailings from operating industrial facilities, beyond their primary component, frequently contain valuable base metal minerals (e.g., Co, Ni, Cu) that are in constant demand and are critical for 'green energy' technologies. Despite the comparatively low concentration of Ni and Co in these tailings, their overall reserves are potentially significant. The objective of this study was to investigate the recovery of nickel, cobalt, and copper from leach sulfuric solutions derived from nickel-cobalt-bearing pyrite concentrate using solvent extraction. It was established that selective metal recovery necessitates the preliminary precipitation of iron as jarosite at a controlled pH. From the resultant iron-free solution, selective copper extraction was achieved using Acorga 5640 in kerosine at a pH range of 2.8–3.0. This was followed by the co-extraction of Ni and Co using Cyanex 272 combined with TBP at a pH of 5.0. To obtain high-purity cobalt and nickel sulfate, the optimal solvent extraction scheme was determined to be 2E+1Sc+1S (2 Extraction stages + 1 scrabbing stage + 1 Stripping stage). As a result of this research, pure iron hydroxide, along with marketable nickel, cobalt, and copper sulfates, were successfully recovered. Further concentration of the final cobalt sulfate solution requires a subsequent sorption process.

With interest in camel milk growing due to its nutrients and biologically active compounds, research into methods of processing and drying it is crucial. In recent decades, extensive studies have explored its chemical composition and health benefits with a focus on drying techniques and their effects on its properties. This review systematically summarizes the available literature on camel milk drying processes and their effects on its chemical composition with a view to shortening the drying time. To achieve this goal, we meticulously reviewed numerous studies published between 2014 and 2024 to identify optimal drying methods that maximize the preservation of camel milk’s nutrient components and bioactive compounds. Our analysis revealed significant findings: freeze drying preserves nutrients better than spray drying, but is less efficient. Spray drying, while faster, tends to compromise some nutritional values. Conclusively, optimizing drying parameters can improve production efficiency and nutrient retention.

In this work, we studied the kinetostatics and stress-strain state of the links of the actuator mechanism of the exoskeleton of the lower limb. The main results of the work include obtaining reaction values in the kinematic pairs of the mechanism, analysis of the stress-strain state of the links in various positions of the mechanism in the support phase. In the load transfer phase, only the gravity forces of the links and the human foot are applied to the mechanism. Key parameters describing the stress-strain state of the links in this phase were obtained. Particular attention is paid to determining the position at which maximum stresses arise in the sections of the links. A comparative analysis of existing exoskeleton designs and new functional capabilities was carried out: a closed kinematic chain, rational structural synthesis, a combined-type actuator mechanism with decomposition of motion by degrees of mobility and with a gravitationally independent topology, which will minimize the number of active power drives. The results of the study can be used to optimize the design of the exoskeleton, as well as to develop recommendations for the use and adjustment of the mechanism in order to reduce stress in the links and increase the efficiency of the device.

Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees of freedom. The use of heavy servo-motors to handle torque in active joints results in complex and bulky designs, as highlighted in the existing literature. In this analytical study, we introduced a novel synthesis method with analytical solutions provided for synthesizing the lower-limb exoskeleton. Furthermore, we proposed a mathematical model of multicriteria optimization; as a result, we obtained several lower-limb exoskeleton mechanisms comprising only six links, well-suited to the human anatomical structure, exhibit superior trajectory accuracy, efficient force transmission, satisfactory step height, and having internal transfer segment of the foot.

This paper proposes a robot designed for automated routine or emergency disinfection in closed premises. The robot is related to the combined type robots. The robot consists of two functional parts: a universal mobile platform (lower part) and a disinfector (upper part), which, if necessary, can be freely moved by personnel on 4 wheels. In the initial position, the upper part of the disinfection robot is at the charging station. The mobile robot drives up to the disinfector, «hooks» it (puts it on itself) and moves along the planned route. The upper part of the disinfector will have its own independent intelligent system, separate from the mobile robot, which, when a person is recognized, stops liquid disinfection: in this case, the UV lamps turn through 180°, the cylindrical body closes and ventilation of the disinfected air from the enclosed space is turned on. In addition, liquid disinfection is only enabled when detecting beds, tables and chairs. With the spray nozzles located at a height of 400 mm, the disinfector can carry out a simultaneous combined treatment of rooms with equipment and furniture, including high-quality processing of the lower surfaces of tables, chairs and beds. To improve the functional characteristics of robotic disinfectors and to simplify their design, a multifunctional robotic disinfector has been proposed. It was found that the result is achieved by the fact that in a multifunctional disinfection robot containing a mobile cart with an autonomous positioning and navigation system, a disinfection platform with a disinfection liquid spraying system and UV lamps with reflectors installed on it, the disinfection platform will have its own autonomous control and power systems.

Industrial robots cover most of the field of technology and are most successfully applied in machining, in motion modelling, in capturing and moving objects of research. In recent times, the complexity and variety of industrial robots and robotic manipulators have increased significantly. These are purposefully designed to attain a much greater level of independence than what is seen in conventional mechanical manipulators. In this article the classification of different configurations of manipulators and analysis of manipulators with artificial vision on the existing research of scientists is conducted. Also, the article analyzes the development of a manipulator with six degrees of freedom and the use of analytical methods to analyze the geometric structure of 3D data for optimal object recognition. © 2024 American Institute of Physics Inc.. All rights reserved.