People with walking disorders caused by accidents or stroke can undergo treatment to restore their mobility. Traditional therapy is time-consuming and time-consuming. Therefore, a new trend was born - to facilitate rehabilitation and reduce the patient's time. Rehabilitation robotics is an area that is constantly evolving, and new mechanisms have recently been developed to help people regain their mobility. This paper presents a 3-RPS parallel manipulator for the restoration of the ankle joint with three degrees of freedom. Parallel manipulator 3-RPS with three degrees of freedom, which was introduced by K. Hunt in 1983 as one of the sedentary parallel manipulators. Since then, 3-RPS has attracted a lot of attention from robotics and biomedical engineering engineers. Copyright © 2023 Nursultan Zhetenbayev, et al.

Robotics with exoskeletons has opened a new era of research in the field of modern rehabilitation and assistive technologies. The technology promises to improve the functionality of the upper limbs, which are necessary for daily operations. Exoskeleton technology is developing rapidly but requires interdisciplinary research to solve technical problems such as kinematic compatibility and the development of effective human-robot interaction. This article presents a new design of a device that helps to rehabilitate the upper extremities. The proposed design is characterized by a lightweight structure with an adaptable geometry for various users with low cost and easy to wear characteristics. The CAD model is developed for design details and for modeling, the results of which provide data on the feasibility of the proposed design and its characteristics in the main operational characteristics. Copyright © 2023 Bizhanov Dauren, et al.

As one of the most injured joints of the human body, the ankle is often prone to sprains or fractures that require help in movement to restore mobility. While physical therapists typically perform rehabilitation in one-on-one sessions with patients, several successful robotic rehabilitation solutions have been proposed in recent years. However, their design is usually bulky and requires the patient to sit or stand in a static position. This paper presents devotes to a new design of a device as an exoskeleton for the ankle joint that promotes movement of a person with disability. The proposed design is characterized by a lightweight and inexpensive design for various users with easy-to-wear functions and simple operation. The exoskeleton is supported by four linear electric actuators to enable ankle movements in three directions. A CAD model is developed for proposed design parts and simulations, the results of which provide data on the feasibility of the design and its main performance characteristics. 3D modeling and simulation calculations were performed in a virtual environment using Solidworks Simulation software and motion simulation. Solidworks Simulation provides an electric linear actuator that generates ankle movement. The proposed design of the mechanism using kinematic and static models is analyzed, a scheme of the control structure is developed. © 2023 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.

The purpose of this review document is to summarize the latest developments and research in the field of robotics related to the field of ankle joint rehabilitation, review new results, and determine the actual state of the art. The literature search was carried out using scientific and medical databases and other websites related to robots used in the field of ankle rehabilitation, analyzing research from the 1950s to the present. © 2022 JVE International. All rights reserved.

The presence of natural organic matter (NOM) poses many challenges in the process of purifying water intended for drinking. The presence of NOM leads to high coloration due to natural conditions. During the coagulation and flocculation processes, NOM stabilizes dispersed and colloidal particles. Currently, there are many methods for removing natural organic matter. In Kazakhstan, coagulation is commonly used for treating most waters, which effectively reduces color and NOM. It is known that the efficiency of ozonation and coagulation is high when they are used together. The impact of ozonation on the properties of coagulation is significant because coagulation is the most widespread process for treating drinking water. The combination of ozonation with coagulation has been proposed as an improved method for reducing coloration and removing surfactants. The studies were conducted at the K.I. Satpayev Kazakh National Technical University, where a liquid phase ozonation laboratory system was developed. The aim of the research was to demonstrate the positive effect of combining ozonation with coagulation on the removal of color and surfactants in surface waters. Studies were conducted on model waters with different contents of humic substances. Positive results were obtained at low concentrations of ozone (0.1…0.8 mg/l) and low doses of coagulant. A low dose of ozone showed improvement for coagulation. The results of the study indicate that ozonation, combined with coagulation, has a positive effect on color removal, enhances the removal of NOM, and reduces the necessary dose of coagulant. © The Authors, published by EDP Sciences.

Now, the development of mobile robots is a promising industry, as these types of robots are acquiring more and more functionality for solving various tasks and in most cases are developed as universal robots that help perform different tasks simultaneously. In this regard, this article discusses the problem of developing a mathematical model of a motion control system for a helicopter-type mobile robot. A mathematical model of a mobile robot motion control system has been developed, using an unmanned aerial vehicle (UAV) as an example, which allows you to track the flight movement in state space. Simulation model of UAV control system based on a PD-controller has been developed using Matlab/Simulink. The simulation model controls the spatial motion of the UAV through four control channels (roll, pitch, yaw, and altitude). The calculations were performed based on the optimal method using the integral quadratic criterion for a nonstationary linear control system. The simulation results show that the developed mathematical model is an optimal simulation for stabilizing a mobile robot (UAV) in desired positions and orientations.

This paper provides deeper insights into the performance of diamond particulate reinforced refractory composites used for cutting tools in the oil and gas industries. In particular, 25Cdiamond–70.5WC–4.5Co composites were enhanced with zirconia additives in proportions of 4 wt.% and 10 wt.% via the spark plasma sintering method. Wear tests were performed, and the analyses of elemental composition, morphology, and microstructure were completed. It was found that the addition of yttria-stabilized zirconia increased the plasticity of the matrix and thus introduced the ductile fracture mechanism, reducing the role of abrasive wear. As a result, the specific wear rate was reduced by 44% after the addition of 4 wt.% of zirconia and by 80% with 10 wt.% of ZrO2. The presence of zirconia contributed to the increase in the retention force between the matrix and diamond grits, which further reduced the intensity of the abrasive mechanism. © 2025 by the authors.

This article reviews recent literature related to electronic waste (E-waste) processing. The extraction of precious metals is shown as the main economic driver of E‑waste processing. The study methodology is based on collecting and analyzing statistical data and performing comparative analytical methods. The theoretical aspect is based on a critical analysis of the research of Russian and international authors. This article highlights the current pyro-, hydro-, and biometallurgical processing methods used for extraction of precious metals from E‑waste. A comparative analysis of known technologies for E‑waste processing is performed; their advantages and disadvantages are shown to achieve a cleaner waste disposal process. The technological and environmental aspects of E‑waste processing, as well as the effect of toxic substances and harmful components in E‑waste processing, have been subjected to a detailed analysis. According to the analysis results, existing technologies must be revised for a comprehensive solution to environmental problems. The increasing E‑waste formation demonstrates the necessity of new approaches and the development of innovative technologies for E‑waste processing. The use of E‑waste as an additional source of raw materials to produce precious and other valuable metals seems very promising.

The proposed technology for processing of manganese-containing wastes from ore concentration represents a new approach to obtaining low-carbon ferromanganese from wastes. Based on the detailed comprehensive studies of two interrelated stages of the common technology (preparation of granulated pellets from a charge of preset composition and their consequent processing via low-temperature roasting), possibility of obtaining metallized granulated pellets is shown in this research. The main regularities of iron and manganese reduction during roasting within the temperature range 773–1800 K are established. Based on the comprehensive analytical studies of the material composition and forms of manganese, which were carried out using X-ray phase analysis, scanning electron microscopy and gas chromatography, step-by-step quality control of the products obtained during implementation of the technological cycle of low-temperature roasting is ensured. It was found out that beginning of abundant CO release in the gas phase under conditions of low-temperature roasting is achieved at a temperature ~1373 K. Temperature rise increases the CO content in the gas phase. Maximal CO content in the gas phase is 94 % CO, it was reached at the temperature of ~1473 K. It is displayed that increase of CO content in the gas phase is mainly determined by the course of reactions of wustite and magnetite reduction by carbon. Mn3O4 reduction reaction is hindered due to the high chemical strength of the oxide. It is indicated that higher roasting temperatures (~1773 K) are required to intensify reduction of strong manganese oxides (Mn3O4, MnO) by solid carbon. As a result of low-temperature roasting of granulated manganese pellets, metallized pellets with content of 23.67 % Fegen.; 23.2 % FeMe; 0.7 % MnMe; 28.47 % MnO; 5.0 % C etc. were obtained.

In the article the combined reflectance model based on quadratic and cubic polynomials is discussed. The main characteristics of physically accurate Torrance-Sparrow, Low models and empirical Blinn, Phong, Schlick models are analyzed. The advantages and disadvantages of the cubic and quadratic Blinn-Phong model approximations are explored. The need in the development of new Blinn-Phong model approximation through combining the quadratic and cubic functions is justified. The cubic model is improved in order to improve the accuracy of Blinn-Phong model approximation in the attenuation zone. The formulas of the improved cubic model coefficients are simplified. The precise and approximated formulas for the calculation of connection point between quadratic and cubic functions are obtained. The productivity gain from replacing the cubic function by the quadratic function in the glare’s epicenter zone is calculated. The absolute and relative errors of Blinn-Phong model approximation by the quadratic, cubic and the proposed model are compared. Through the visualization of the test figures “Teapot” and “Robot” the advantages of the proposed function usage for increasing the realism of glares formation are shown.