Исследование роботизированной мобильной платформы KUKA youBot

Объектом исследования является роботизированная мобильная платформа KUKA youBot, которая предназначена для решения исследовательских и промышленных задач. В основу научных исследований данной работы положены методы математического (обзор описания кинематики и динамики робота) и компьютерного моделирования (имитационное моделирование). Цель работы – изучение кинематики и динамики KUKA youBot, разработка программного обеспечения для решения простых робототехнических задач и обучения студентов основам работы с данным роботом. В процессе исследования произведён аналитический обзор по данной теме, разработано ПО для решения базовых робототехнических задач.The target of research is the robotic mobile platform KUKA youBot, which is designed to solve research and industrial problems. The scientific research of this work is based on methods of mathematical (review of the description of kinematics and robot dynamics) and computer modeling (simulation modeling). The work objective is to study the kinematics and dynamics of KUKA youBot, to develop software for solving simple robotic tasks and to teach students the basics of working with this robot. During the research, an analytical review on this topic was made, software for solving basic robotic tasks was developed

Information technology in management personnel on the example of KC "Jobs"

Analysis of the workings and personnel decisions in the field of human resource management. They are inextricably linked to the processes of information processing. The higher the effect of the use of personnel information, the more objective decisions will be made by the heads of a wide variety of human resources issues. In this regard, there is a need in the compilation and dissemination of the experience gained in the application of modern technologies, as well the creation of new software products. Consideration of "human process management" module. It is designed to automate the management processes in terms of the conduct of personnel information in the context of positions and employees in order to provide the head of information for management decision making and carrying out related activities. Consideration of the positive and negative sides of the module, as its distinctivefeatures

1H, 13C and 15N resonance assignments of the Calmodulin-Munc13-1 peptide complex

Ca2+-Calmodulin binding to the variable N-terminal region of the diacylglycerol/phorbol ester-binding UNC13/Munc13 family of proteins modulates the short-term synaptic plasticity characteristics in neurons. Here, we report the sequential backbone and side chain resonance assignment of the Ca2+-Calmodulin/Munc13-1458–492 peptide complex at pH 6.8 and 35°C (BMRB No. 15470)

Проектирование системы электроснабжения цементного завода

Цель работы: разработка системы электроснабжения промышленного предприятия. В процессе исследования произведен выбор метода расчета, осуществлён расчет электрических нагрузок завода и рассматриваемого цеха, произведён выбор оборудования и его проверка при различных режимах работы. В результате исследования была спроектирована модель электроснабжения промышленного предприятия, представлена ее техническая целесообразность и безопасность для окружающей среды. Основные конструктивные, технологические и технико-эксплуатационные характеристики: исследуемый завод состоит из двадцати цехов, из них шесть цехов относятся ко второй категории по надежности электроснабжения; напряжение питающей линии 110 кВ; рабочие напряжения внутри завода: 10/0,4 кВ; схема электроснабжения цеха - магистральная.Objective: Development of power supply system of the industrial enterprise. In the research process there was chosen the method of calculation, calculation of electrical loads of the enterprise, selection of equipment and it's verification under various operationg conditions. In the result of the research the model of electrical supply system has been designed. Also there are economical effectiveness and environmental security. Basic constructive, technological and operational characteristics: there are twenty departments, six of them belong to the second power supply reliability category; voltage of the feeding line is the 110 kV; operating voltages within the plant: 6, 0.4 kV; power supply of consumers of mechanical-repair shop is carried out by trunk power supply network

Environmental drivers of local abundance-mass scaling in soil animal communities

The relationship between species' body masses and densities is strongly conserved around a three-quarter power law when pooling data across communities. However, studies of local within-community relationships have revealed major deviations from this general pattern, which has profound implications for their stability and functioning. Despite multiple contributions of soil communities to people, there is limited knowledge on the drivers of body mass–abundance relationships in these communities. We compiled a dataset comprising 155 soil–animal communities across four countries (Canada, Germany, Indonesia, USA), all sampled using the same methodology. We tested if variation in local climatic and edaphic conditions drives differences in local body mass–abundance scaling relationships. We found substantial variation in the slopes of this power-law relationship across local communities. Structural equation modeling showed that soil temperature and water content have a positive and negative net effect, respectively, on soil communities. These effects are mediated by changes in local edaphic conditions (soil pH and carbon content) and the body-mass range of the communities. These results highlight ways in which alterations of soil climatic and edaphic conditions interactively impact the distribution of abundance between populations of small and large animals. These quantitative mechanistic relationships facilitate our understanding of how global changes in environmental conditions, such as temperature and precipitation, will affect community–abundance distributions and thus the stability and functioning of soil–animal communities

Functional losses in ground spider communities due to habitat structure degradation under tropical land-use change

Deforestation and land‐use change in tropical regions result in habitat loss and extinction of species that are unable to adapt to the conditions in agricultural landscapes. If the associated loss of functional diversity is not compensated by species colonizing the converted habitats, extinctions might be followed by a reduction or loss of ecosystem functions including biological control. To date, little is known about how land‐use change in the tropics alters the functional diversity of invertebrate predators and which key environmental factors may mitigate the decline in functional diversity and predation in litter and soil communities. We applied litter sieving and heat extraction to study ground spider communities and assessed structural characteristics of vegetation and parameters of litter in rainforest and agricultural land‐use systems (jungle rubber, rubber, and oil palm monocultures) in a Southeast Asian hotspot of rainforest conversion: Sumatra, Indonesia. We found that (1) spider density, species richness, functional diversity, and community predation (energy flux to spiders) were reduced by 57–98% from rainforest to oil palm monoculture; (2) jungle rubber and rubber monoculture sustained relatively high diversity and predation in ground spiders, but small cryptic spider species strongly declined; (3) high species turnover compensated losses of some functional trait combinations, but did not compensate for the overall loss of functional diversity and predation per unit area; (4) spider diversity was related to habitat structure such as amount of litter, understory density, and understory height, while spider predation was better explained by plant diversity. Management practices that increase habitat‐structural complexity and plant diversity such as mulching, reduced weeding, and intercropping monocultures with other plants may contribute to maintaining functional diversity of and predation services provided by ground invertebrate communities in plantations