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Kinematic Modelling, Workspace Analysis and Static Structural Analysis of a 3 DoF Manipulator for an Elevator Automation
P. 300–304.
Manipulators are used extensively in industrial and service sectors due to their capability to carry out a task effectively. This paper presents a kinematic modelling, a workspace analysis, a static structural analysis and a simulation study of a simple 3 degrees-of-freedom (DoF) Cartesian manipulator developed for pressing buttons of an elevator. Denavit-Hartenberg approach was used for determining kinematic equations, which allowed constructing a manipulator workspace. A static structural analysis in ABAQUS determined stresses and deformations acting at manipulator links. The dimensions and material for fabricating the manipulator were selected using static structural analysis. Simulations with virtual human models from LIRS-HMLG library were carried out in Gazebo to study motion capabilities and range of the manipulator, and evaluate its performance in a human-robot interaction scenario.
Pikalov V., Meshcheryakov V., Kondratev S. et al., Technologies 2026 Vol. 14 No. 1 P. 1–27
This paper presents Aerokinesis, an IoT-based software–hardware system for intuitive gesture-driven control of quadcopter unmanned aerial vehicles (UAVs), developed within the Robot Operating System 2 (ROS2) framework. The proposed system addresses the challenge of providing an accessible human–drone interaction interface for operators in scenarios where traditional remote controllers are impractical or unavailable. The architecture comprises ...
Added: May 19, 2026
Кондратьев С., Никитин Г. Э., Дырченкова Ю. А. et al., Technologies 2026 Vol. 14 No. 1 P. 1–27
This paper presents Aerokinesis, an IoT-based software–hardware system for intuitive gesture-driven control of quadcopter unmanned aerial vehicles (UAVs), developed within the Robot Operating System 2 (ROS2) framework. The proposed system addresses the challenge of providing an accessible human–drone interaction interface for operators in scenarios where traditional remote controllers are impractical or unavailable. The architecture comprises ...
Added: May 19, 2026
Ramenskaya A., Бектемиров Р. Р., Корнейченко Е. Н., В кн.: Имитационное моделирование. Теория и практика (ИММОД 2025).: СПб.: АО "ЦТСС", 2025. С. 463–470.
Banks need to analyze the preferences and behavior of their customers for stability. The high value of the key rate has affected the deposit policy of banks. The purpose of the study is to develop simulation model of customer behavior in the regional bank deposit market. The paper proposes an agent-based simulation model describing the ...
Added: April 20, 2026
Gabdrahmanov R., Tsoy T., Martinez-Garcia E. et al., , in: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - (Volume 1) ICINCO 2024.: SciTePress, 2024. P. 511–518.
Computer simulations are growing in popularity in robotics research due to their near-zero cost of error and lower labor intensity. One of necessary components of a simulation, in addition to a robot model, is a model of a world in which the robot operates. While it is always possible to construct a world model manually, ...
Added: March 17, 2026
Sultanov R., Safin R., Martinez-Garcia E. et al., , in: Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - (Volume 1) ICINCO 2024.: SciTePress, 2024. P. 519–526.
Vision is one of the well-researched sensing abilities of robots. However, applying vision-based algorithms can be challenging when used in different environmental conditions. One such challenge in vision-based localization is dynamic lighting conditions. In this paper, we present a new Gazebo plugin that enables realistic illumination changes depending on a current Sun's position. A plugin's ...
Added: March 17, 2026
Vaschenko A., Frolov O., Safin R. et al., , in: 16th International Conference on Intelligent Systems, INTELS 2024, Moscow, Russia, December 2–4, 2024, Proceedings, Part I. Intelligent Systems. (CCIS, volume 2603).: Springer, 2025. P. 311–324.
Swarm robotics is a complex domain within multi-robot systems that encompasses formation control, movement control, and interUAV communication. Coordinates task execution requires effctive swarm control, which relies on robust motion control algorithms and reliable data exchange mechanisms. In this work, we propose an operator-leaderfollowers approach for managing UAV swarms. It comprises the following components: centralized swarm control utilizing ...
Added: March 17, 2026
Frolov O. V., Safin R. N., Tsoy T. G. et al., Ученые записки Казанского университета. Серия: Физико-математические науки 2025 Vol. 167 No. 4 P. 786–805
Advancements in robotics have expanded a use of unmanned aerial vehicle (UAV) swarms in
critical tasks such as disaster response, including search and rescue operations during floods, hurricanes,
landsliding, and earthquakes. Swarm formation control stands as a critical challenge in UAV swarm
control. In this article, a simple and resource-efficient method for addressing collisions within swarm
formations during outdoor ...
Added: March 17, 2026
Myzina A., Safin R., Tsoy T. et al., , in: Proceedings Volume 14073, Fifth International Conference on Artificial Intelligence, Automation, and Algorithms (AI2A 2025).: [б.и.], 2026.
Floods are among the most destructive natural disasters, causing human casualties and severe economic damage. Effective monitoring of flooded areas requires automated systems capable of real-time perception and decision-making. This paper proposes a water surface segmentation model based on the U-Net architecture, trained entirely on synthetic data generated in the Gazebo simulator with variations in ...
Added: March 17, 2026
Gamberov T., Safin R., Tsoy T. et al., , in: Proceedings of the Fifth International Conference on Agriculture Digitalization and Organic Production (ADOP 2025), Volume 1. Robotics in Agriculture. (SIST, volume 453).: Springer, 2026. P. 175–187.
The agricultural sector is undergoing a digital transformation due to modern automation, robotics, sensing, and simulation technologies. This research explores a use of digital human models (DHMs) in the Gazebo virtual environment to enhance agricultural workflows, improve human-robot interaction, and ensure safety. We propose a framework that models typical agricultural scenarios, such as field mapping, ...
Added: March 17, 2026
Gataullin R., Abbyasov B., Zhukova V. et al., , in: 6th International Conference, CIT&DS 2025, Volgograd, Russia, September 22–25, 2025, Proceedings. Creativity in Intelligent Technologies and Data Science. (CCIS, volume 2803).: Cham: Springer, 2025. P. 477 – 491.
Mobile robots are increasingly used to automate repetitive and labor-intensive tasks in environments such as hospitals, warehouses, offices, and manufacturing facilities. When working together, multiple robots can achieve greater efficiency by sharing workloads and coordinating complex tasks, which enables faster completion of large-scale operations. Managing such teams of robots, however, requires an intuitive system for ...
Added: March 17, 2026
Magid E., Abbyasov B., Lavrenov R. et al., Lobachevskii Journal of Mathematics 2025 Vol. 46 No. 5 P. 2382–2395
Urban Search and Rescue (USAR) robotics deals with emergent situations that occur in urban environments due to natural and human-made disasters. To support early stages of algorithms’ testing and evaluation, we developed an easy to use USAR simulation tool (LIRS-USim) that models typical USAR missions within the Gazebo simulator. The proposed robot operating system based ...
Added: November 25, 2025
Stepanyants V., , in: 2025 International Russian Automation Conference (RusAutoCon).: IEEE, 2025. P. 982–986.
Transportation systems are complicated and deal with significant problems. With the pool of possible solutions being wide, extensive transportation planning has to be involved. However, planning based on expert opinions is significantly limited in terms of rapidity, accuracy, and confidence. Computer-aided design and automated decision-making systems are the next step to ensure transportation system development ...
Added: October 3, 2025
Zanko Georgii, MULTIDISCIPLINARY SCIENCE JOURNAL 2025 Vol. 8 No. 1 P. e2026126
Effective cash management remains a persistent challenge in dynamic economic landscapes, particularly under VUCA conditions. While traditional cash management models, including stochastic programming, have offered valuable insights, their limitations in capturing rapid changes and unknown uncertainties are becoming increasingly apparent. This paper addresses this gap by conducting a comparative analysis between a Stochastic Goal Programming ...
Added: September 12, 2025
Viazmin A., Чапанова М. Р., Морозов М. С. et al., Нервно-мышечные болезни 2025 Т. 15 № 2 С. 28–36
Objective. To present Kinematic 4, a software tool designed for automated analysis of reach-to-grasp and object transport movements using data obtained from motion capture systems.
Materials and Methods. The software was developed in Python and implements algorithms for automatic detection of key temporal events in motor actions. Initially validated in MATLAB, the algorithmic framework was adapted ...
Added: September 2, 2025
Ivanov D., Rozhkov M., , in: Handbook of Ripple Effects in the Supply Chain.: Springer, 2025. Ch. 11 P. 215–247.
We study capacity disruption and recovery policy impacts on supply chain (SC) performance. Discrete event simulation methodology is used for analysis with real company data and real disruptions. Two novel findings are shown. First, disruption-driven changes in SC behaviour may result in backlog and delayed orders, the accumulation of which in the post-disruption period we ...
Added: May 15, 2025
Anna Volodkevich, Ivanova V., Vasilev A. et al., , in: Advances in Information Retrieval: 47th European Conference on Information Retrieval, ECIR 2025, Lucca, Italy, April 6–10, 2025, Proceedings, Part IV.: Springer, 2025. P. 425–430.
Simulators for recommender systems are widely used for recommender systems performance evaluation and feedback loop effects analysis. Existing simulators often propose inflexible pipelines, are focused on narrow research tasks, or are not adapted to work with industrial large data volumes. To address these challenges, we developed the Sim4Rec simulation framework. The Sim4Rec models key aspects ...
Added: April 10, 2025
Rozhkov M., Alyamovskaya N., Zakhodiakin G., International Journal of Production Research 2025 Vol. 63 No. 18 P. 6630–6647
This article investigates the application of reinforcement learning (RL) methods to optimise a four-echelon linear supply chain model with stochastic demand. The proposed supply chain configuration is largely based on the production-distribution supply chain of the MIT Supply Chain Beer Game. We show that RL can significantly improve ordering efficiency and overall supply chain performance. ...
Added: March 24, 2025
Gabdrahmanov R., Tsoy T., Bai Y. et al., , in: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics.: SciTePress, 2022. Ch. n/a P. 565–572.
Added: February 19, 2025
Frolov O., Safin R., Tsoy T. et al., , in: 8th International Conference on Computing, Control and Industrial Engineering: Advances in Computing, Control and Industrial Engineering VIII (Volume 1).: Springer, 2024. P. 364–372.
Added: February 19, 2025
Sulaiman S., Eryomin A., Tsoy T. et al., , in: 2024 IEEE 7th Eurasian Conference on Educational Innovation (ECEI).: IEEE, 2024. P. 410–413.
Intelligent robots are employed in a wide variety of sectors due to their capability to carry out a task autonomously. As a response for a growing importance of intelligent robots, a new master program in intelligent robotics was introduced by Kazan Federal University, Russia in 2017. It was created by analysing curricula of top robotics ...
Added: February 19, 2025