The article considers a robotic control system for implementing the S-shaped movement of a snake robot, and evaluates the specifics of its use on a physical prototype. Since the snake robot is a complex composite structure, the assessment and assignment of a certain type of movement becomes one of the primary tasks in the development of this control system. The simulation model of the snake robot is implemented using mathematical modeling in the Russian software REPEAT. As a result of the simulation, it was found that the developed control system ensures the operability of the robotic system, ensures the accuracy of movement and adaptability to changing external conditions.

Keywords: mathematical modeling, simulation model, REPEAT, snake robot, wave motion control system, torque variation

The article analyzes the placement of developed measuring devices for assessing the quality of blending of natural and chemical fibers in various spinning systems of cotton and wool spinning industry. The variants of installation of sensing elements on carding and draw frames are considered. Algorithms of interaction between microcontroller and personal computer in the automated measuring system are presented.

Keywords: automatic control systems, quality control of mixing in spinning systems, algorithms of interaction between microcontroller and personal computer

The article presents studies of a computer simulation statistical model between the characteristics of flows in terms of linear density and the proportion of components in a mixed flow. The results of evaluating the effect of the filling fraction of the component on the average and standard deviation of the fraction of the 1st component in the mixture are presented, the type of autocorrelation functions of the linear density of the mixed stream and the fraction of the 1st component in the mixed stream are determined, estimates of the spectral density of dispersion for the linear density of the mixed stream and the fraction of the 1st component in the mixed stream are shown.

Keywords: fiber mixing, linear density, component fraction, autocorrelation function, spectral density of dispersion, standard deviation

The article discusses the conducted studies of changes in the output signal from a measuring device to assess the quality of mixing natural and chemical fibers in semi-finished products of spinning production obtained on a belt machine at various transitions. The construction of polynomial models in data analysis makes it possible to interpret information about the uniformity of fiber distribution in the tape, without taking into account the effect on changes in its linear density.

Keywords: fiber mixing quality, linear density, infrared estimation method, data estimation, linear polynomial, polynomial function

The article presents the results of the calculation and analysis of the distribution of field strength in the area of the measuring ring of the capacitive transducer for various geometric dimensions of the electrodes. Also, the appropriate distance between the electrodes and their size in the primary converter system were determined to assess the quality of mixing natural and chemical fibers at the output of tape equipment.

Keywords: fiber mixing quality, electromagnetic field, capacitive estimation method, conformal transformations

The article presents the dependence of the change in the intensity of emission during the passage of an infrared flux through a two-component material, which allows for a fractional assessment of a mixture of natural and chemical fibers. On the basis of the obtained dependence on experimental data, a mathematical model has been constructed that makes it possible to quantify the distribution of dissimilar fibers in a mixture. The modelling results showed that after the second transition on the draw frame, the so-called "stretching" defect is observed, which characterizes the uneven distribution of fibers in the product cross section.

Keywords: emission intensity, infrared evaluation method, mixing of dissimilar fibers, fractional composition, measuring device

The article presents the results of a full-factor experiment and analyzesthe impact of various factors, such as the number of transitions a tape machine, the characteristics of an infrared laser diode and a the humidity of the material on the magnitude of the signal response when infrared radiation passes through the tape.

Keywords: fiber mixing quality, infrared estimation method, planning matrix, regression equation, model adequacy