The process of creating an aggregated digital twin for a physical prototype of a manipulator with a load-gripping mechanism is considered. To solve the problem of controlling the system nodes, the freely distributed software platform Robot Operating System (ROS) was used, in particular, the MoveIt packages for manipulator control, OpenCV for computer vision and RViz for visualization. A description of the physical prototype and the stages of creating a model of the robotic complex in the form of URDF files is given. The developed system creates a level of abstraction between hardware and software, which allows exploring new technological solutions in the field of automation of processes of transport and cargo systems.

Keywords: machine vision, robotics, digital twin, control system, manipulator, ROS

The focus is on the building construction technologies using 3D modular building blocks, which are capable of changing their geometric dimensions and shape or remaining unchanged during installation. The paper discusses the main advantages of using 3D modular building blocks for building construction and offers specific examples showing the related process flows. It also shows horizontal and vertical nodal joints and provides a comparison of two options based on certain criteria of installation adaptability.

Keywords: buildings, construction technology, installation and transport manufacturability, horizontal and vertical connections, technological processes

The article outlines modern trends in the formation of the architecture of concert halls based on the use of long-span structures in the structure of the facility. The parameters of concert halls, which are affected by the use of long-span structures, are considered. Examples of the implementation of the architecture of concert halls using long-span structures made of various materials are presented. Theoretical assumptions have been made about the division of long-span structures into two types according to the nature of their influence on acoustics.

Keywords: concert halls, long-span structures, acoustics, architecture, acoustic characteristics, halls, architectural and building structures

The article presents a comparative analysis of various types of long-span structures used in covering concert halls. Their influence on the acoustic characteristics of the concert hall box is considered. Examples of the implementation of the architecture of concert halls using long-span structures made of various materials are presented. Conclusions are drawn about the division of large-span structures into two functional groups according to the nature of their influence on acoustics with the corresponding option for space-planning solutions for concert halls.

Keywords: concert halls, long-span structures, acoustics, architecture, acoustic characteristics, halls, architectural and building structures

The article discusses the key problems of resource and damageability of crane beams over a long period of operation. A classification of the most dangerous defects in crane beams is proposed, taking into account not only the location of the defect, but also the mechanism of its development, as well as possible causes of its occurrence. The focus is on the effect of periodic loading on the initiation and growth of fatigue cracks. The article analyzes international research in order to identify methods and methodologies used to ensure the safety and reliable operation of the objects under study. It is shown that special attention should be paid to periodic examination for the purpose of early detection of cracks of various etiologies and timely adoption of the necessary measures. It has been revealed that the most effective approach to ensuring reliable and safe operation of the object under study throughout its life cycle is the collaboration of modern calculation methods, including fracture mechanics, and experimental techniques during periodic inspections, which will allow the crane beam zones to be ranked according to the likelihood of a defect occurring and reduce risk of sudden brittle failure.

Keywords: crane beam, crack, brittle fracture, fracture mechanics, shear deformation, normal separation, finite element method, ranking by fracture risk, maintenance, stress-strain state

Expert work has been carried out to determine the causes of the low adhesion strength of hand-molded ceramic bricks with Maxpol colored masonry mortar. The tests were carried out in accordance with GOST 24992 on 6 series of samples aged 7 and 28 days of hardening. The adhesion strength in the series of tested samples at 7 days of age, which were washed with running water, is 54% higher compared to the samples that were not treated.The compressive strength of Maxpol colored masonry mortar meets the requirements of technical specifications 23.64.10-001-79211444-2017 . The adhesion strength in the masonry meets the requirements of technical specifications only in a series of hand-molded bricks that have been treated with running water at the age of 28 days.

Keywords: ceramic brick, colored masonry mortar, adhesion strength, compressive strength, separation area

Calculation and analytical studies have been carried out on the influence of the duration of operation of nuclear power plants (NPP) when extending their service life on radiation and radiation-thermal changes of volume and compressive strength in serpentinite concrete of “dry” radiation-thermal shield (hereinafter referred to as “dry” shield) of Water-Water Energetic Reactors (WWER /VVER) different power. Concrete based on typical serpentinite aggregate from the Bazhenov deposit, used for the production for concrete of “dry” shield, is considered. It has been established that with increasing operating duration, radiation changes of the serpentinite concretes in “dry” shield of NPPs with VVER will generally increase monotonically and, in terms of volume changes, can become commensurate with or even exceed permissible values. In this regard, radiation changes in the concrete of «dry» shield should be taken into account when extending the operating life of nuclear power plants. It has been shown that radiation changes in the concrete of “dry” shield for NPPs with VVER-440 are 2 - 4 times more significant than of “dry” shield concrete for NPPs with VVER-1000. Radiation changes in the concrete of "dry" shield increase with decreasing average operating temperature. Thermal changes in serpentinite concretes of "dry" shield when exposed to operational and emergency temperatures increase with temperature and make a significant contribution to radiation-thermal changes in dry-shield concretes. The results obtained can be used to establish the permissible period for extending the operation of nuclear power plants with reactors of the VVER 440 and VVER-1000 types based on radiation-thermal changes in serpentinite concrete of "dry" shield.

Keywords: radiation, thermal, radiation-thermal changes, serpentinite concrete, “dry” radiation-thermal shield, water-water energetic reactors, extension of the operating life of NPP

The analysis of N.N. Pavlovsky's method for calculating the parameters of the riverbed in the branches is given. The reasons for the limitation of this method have been established. The Lagrange transform is used to find the extremum of the objective function for equations of uneven fluid motion, which makes obtaining an equivalent resistance modulus highly visual and easy to use. The results of the experiment are presented.

Keywords: calculation method, multi-node sections of rivers, resistance modulus, N.N.Pavlovsky method

This article highlights the theoretical results of analytical research in the field of the use of tethered balloons as carriers of barrier networks, which can be used as passive protection of particularly important civil and industrial facilities from unmanned aerial vehicles and other low-flying means of air attack. A diagram of an aerostatic barrier system, theoretically capable of countering air attack means, is presented. The elements of the methodology for determining the probability of damage to aircraft from cable type air barriers are presented.

Keywords: aerostatic air barrier system, unmanned aerial vehicles, tethered balloons, aerial protection of ground objects

The loads on the power floors and column foundations of modern logistics centers can reach 6-9 t/m2 and 1000 t, respectively. At the same time, the step of the grid of exploration wells in the mined areas does not allow reflecting on the geological sections the exact geometry of the occurrence of weak, untreated soils of backfilling pits. The use of a method for strengthening man-made soils by pressing in prefabricated prismatic piles made it possible to compensate for the missing information from engineering and geological surveys by controlling the forces of indentation and thus determining the occurrence marks of more durable foundation soils.

Keywords: engineering and geological surveys, the territory being worked on, man-made soils, soil reinforcement with piles, geological section

Currently, tracing the movements of various objects (in particular a person) occupies a central place in video surveillance and video analytics systems. It is a system for tracking people's movements by localizing their positions on each frame within the entire video stream and is the basis of many intellectual computer vision systems. The purpose of this article is to develop a new algorithm for tracing human movements in a video stream with the possibility of selecting motion trajectories. The main stages of the algorithm include: dividing the video into frames with a difference of one second, selecting the person under study in the video stream, implementing a digital processing process based on recognizing the clothes of the person under study and obtaining its color histogram, predicting localization and recognizing the person under study on all subsequent frames of the video stream using the developed methods of forecasting the direction of movement of this object. The output data of the proposed algorithm is used in the procedure of forming and displaying a general picture of the movement of a particular person within the entire video stream. The information and materials contained in this article may be of interest to specialists and experts who, in their work, pay special attention to data processing when analyzing fragments of the video stream.

Keywords: surveillance cameras, u2– net neural network, rembg library, pattern recognition, clothing recognition, delta E, tracing, direction prediction, object detection, tracking, mathematical statistics, predicted area, RGB pixels

The article presents ways to improve the accuracy of the classification of normative and reference information using hierarchical clustering algorithms.

Keywords: machine learning, artificial neural network, convolutional neural network, normative reference information, hierarchical clustering, DIANA

Girderless ceilings have become particularly popular in the construction of civil buildings. However, it is often necessary to reconstruct them, namely, to strengthen the joint of the plate with the column. Both domestic and foreign researchers deal with the issues of punching. This scientific article is devoted to the study of the method of strengthening reinforced concrete floor slabs by adding transverse reinforcement.

Keywords: floor plate, punching, transverse reinforcement, reinforcement

The aim of this study is mathematical modelling of the southern part of the Siberian craton using the finite element method. The task of the study is to carry out mathematical modelling of the stress-strain state of the visco-elastic-plastic medium of the Yakutsk-Vilyui large eruptive province on the basis of the boundary value problem. Hypothesis of the study: the possibility of using the results of numerical study to determine the zones of mineral dislocations. In the southern part of the craton, on the territory of the Republic of Sakha-Yakutia, there are the richest oil and gas fields, the largest of which is the Ust-Vilyuyskoye field located in the southern part of the craton. Research method: numerical experiment carried out by the method of mathematical modelling. Results achieved: finite element studies were carried out, the possibility of using numerical methods was determined, the stress-strain state of the plate was analysed, and the locations of anomalies of dislocations of craton rocks were determined to identify potential oil and gas bearing fields.

Keywords: craton, mathematical modeling, stress-strain state, geophysics, geotectonics, stretching, igneous province, material models, Hardening Soil model, finite element method, mineral dislocation

Today, the problem of global climate change and the associated degradation of permafrost is a priority area of ​ ​ research. In the regions of the Far North, a change in temperature by half a degree contributes to the emergence of geocryological dangers: the appearance of ravines, thermokarst subsidence, heaving, the formation of residential ice and, as a result, the destruction of houses and infrastructure. In Russia, the permafrost zone occupies about 63-65% of its territory and extends for thousands of kilometers. Various engineering and geological impacts, including man-made ones, represent a serious geocryological hazard and can lead to degradation of frozen soils in various regions. Due to the rapid thawing of ice and climate change, collapses and voids form on frozen soils. Also, when thawing permafrost, a large amount of groundwater is formed and there is a risk of salinization of nearby water and coastal zones. This can lead to the loss of resources that are necessary for the life of the local population, as well as for the economy of the region. Despite the fact that there are numerous programs and studies on this topic, a huge amount of work has not yet been carried out in Russia to eliminate geocryological threats.

Keywords: Geocryology, permafrost, ground, frozen soil degradation, thawing, monitoring, Yakutia, cryolithozone, geocryological hazard