SUMMARIES

Numerical method of optimum control of artificial limbs
mechanisms. **Yu. Sarkissyan, K. Stepanyan, A. Ohanganyan.** ‘Problems of
Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 9-13, (rus.).

The problem of optimum control for robotic systems where control functions are determined so that providing transition of the system from an initial to a final state they minimize certain motion quality criteria. A unified numerical method of solving this problem under the constraint, on phase coordinates and controls is developed. Possible applications of the method developed are considered in the field of motion construction of human artificial limbs where problems of optimal control are especially important in connection with limited resources of the physical parameters which provide these motions. 3 ill. Bibl. 3. Russ.

Dynamical investigation of spatial four-link mechanisms. **N.
Davitashvili, R. Gogodze, M. Tsotadze.** ‘Problems of Applied Mechanics~.
Tbilisi, 2002, ¹ 4(9), p. 14-23, (rus.).

It is given the dynamical investigation of spatial four-link crank-slide of RSSpT type and crank-and-rocker of RSpSR type of linkages mechanisms with one degrees of freedom. 2 ill. Bibl. 9. Russ.

Dynamical investigation of spatial four-link mechanisms with
taking into account the friction in kinematic pairs. **N. Davitashvili**.
‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 24-36, (rus.).

It is given the dynamical investigation of spatial four-link crank-slide of RSSpT type and crank-and-rocker of RSpSR type mechanisms taking into account a friction. 2 ill. Bibl. 15. Russ.

Optimization of transmission of planetar-ymotion mixer. **G.
Imedashvili, K. Imedashvili, Z. Tsintsadze, V. Khuchua.** “Problems of Applied
Mechanics”. Tbilisi, 2002, ¹ 4(9), p. 37-40, (rus.).

The problem of planetary-motion mixer optimization of transmission is studied using the readjusted drive where changeable orientation of scoop with respect to the roved trajectory intensifies the striving process, i.e. considerably reduces the power expenses. 3 ill. Bibl. 5. Russ.

The accounting of inconstant offset during the investigation
of generalized forces of actuating mechanism with clearances of the diesel of
railroad refrigerator wagon. **G. Sharashenidze, S. Sharashenidze.**
‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 41-51, (rus.).

The generalized forces for each form of the increment motion of slider-crank mechanism with clearances of the diesel of railroad refrigerator wagon taking into account inconstant offset are investigated. Corresponding expressions, which show influence of the offset on the value of generalized forces, are obtained. 1 ill. Bibl. 4. Russ.

Kinematic investigation of a spatial five-link manipulator.
**G. Naruslishvili**. “Problems of Applied Mechanics”. Tbilisi, 2002, ¹ 4(9),
p. 52-59, (rus.).

In this paper, a five-link rod-shaped manipulator has been considered. By the graphic-analytical method the functional dependences between parameters have been established. The method of kinematic calculation of the spatial five-link mechanism with detents according to given motion of helical displacement and according to the time of operating elements’ dwells at the beginning and at the end of motion has been considered. The formulae for calculation of the trajectory of motion of operating elements and for velocities have been given. 6 ill. Bibl. 2. Russ.

To the research of dynamic stability of periodically
unstationary systems of maÑhine drives. **A. Vashalomidze, G. Chkhaidze, T.
Mchedlishvili.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p.
60-65, (rus.).

The most known result allowing for periodically unstationary systems to receive sufficient conditions of stability, is the Bonjeorno criterion. On using this criterion we encounter the necessity of the reference of complex matrix of the large order. In the present work are offered methods based on concepts of numbers of conditionality singular numbers of any matrix. These methods give Criterion Bonjeorno more simple kind for realization calculation and do not require (demand) the reference (manipulation) of matrix. Bibl. 12. Russ.

About using the Bonjeorno criterion for research of
parametric stability of unstationary dynamic systems. **A. Vashalomidze, G.
Chkhaidze, T. Mchedlishvili.** ‘Problems of Applied Mechanics~. Tbilisi, 2002,
¹ 4(9), p. 66-70, (rus.).

Received results allow to make the conclusion about stability of periodic system on the basis of the analysis own value of a matrix of average system. Bibl. 3. Russ.

A classifier for the seeds of oily crops. **Z. Djaparidze, Z.
Megrelidze.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p.
71-75, (rus.).

In this paper, a description of the device (the classifier) and the method of granulometric examination for the seeds of a sunflower have been given. There are given also the results of experimental research (in the graph form) which were used for the construction and substantiation of the conditions of the gauging machine. 4 ill. Bibl. 2. Russ.

Analytical way of determination of a rigidity matrix for the
envelope of rotation. **G. Kipiani, E. Machaidze, I. Shioshvili, M.
Chkhitunidze.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p.
76-78, (rus.).

The colum of a rigidity matrix induced by the surface load is determined. Although this method of determination of parameters expects a certain idealization of the real construction, nevertheless, if has some advantages in comparison with the other methods. Bibl. 4. Russ.

The physical model of ore-mill operation. **M. Baghdasaryan**.
‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 79-81, (rus.).

A physical model of ore-grinding mill has been created that gives a chance to model the phenomena going on in productive mill. The similarity of the model and the original has been verified. Bibl. 2. Russ.

The analysis of an active powerful engine signal of employing
mineral grinding mill. **M. Baghdasaryan. **‘Problems of Applied Mechanics~.
Tbilisi, 2002, ¹ 4(9), p. 82-84, (rus.).

An algorythm is suggested for working out an active powerful engine signal of employing mineral grinding mill. The elaborated algorythm enables to reveal the principles of active power changes at different states of the ore-grinding mill. 1 ill. Bibl. 3. Russ.

New numerical approach to the solution of the problem of
lubrication flowing in the toothing by the method of finite elements. **A.
Bregvadze, I. Saginadze, G. Abramishvili, G. Iosebidze, G. Kipiani, L.
Zurabishvili.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p.
85-88, (rus.).

In this work, the mathematical model of lubrication flow in the toothing has been given. On the basis of the method of finite elements the algorithm of the solution of problem has been developed. 1 ill. Bibl. 5. Russ.

Termoisolation cracks problem solution by numerical method.
**M. Kublashvili.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p.
89-91, (rus.).

The termoisolation cracks problem result in calculation of Koshs integral. For this effectiv formula, expration in quadratic is built for calculation according to astimation of degree of approximation. Bibl. 2. Russ.

Deformation in triangle and rectangular cilindric element.**
Z. Bliadze, M. Tsikarishvili. **‘Problems of Applied Mechanics~. Tbilisi,
2002, ¹ 4(9), p. 92-95, (rus.).

Stifness matrix for triangular triangle and rectangular cilindrical finite element is created what makes is possible to take into account shear deformation in thickness. Element matrix is modified in the way to be equivalent addition to the stem(beam) joining the upper end lower nodes. Stifness of the stem(beam) element stretched perpendicularly across the plane. Russ.

Construction diagnostic formed by metal construction with
fiber optic sensors. **J. Bakhtadze, M. Tsikarishvili, S. Bliadze, L.
Gvelesiani, E. Kristesiashvili**. ‘Problems of Applied Mechanics~. Tbilisi,
2002, ¹ 4(9), p. 96-98, (rus.).

In the given paper worked up construction diagnostic scheme formed by metal constructions with fiber-optic sensors. There is formed mathematical model that gives us an opportunity apparatus-program control of the whole construction in real time. 1 ill. Bibl. 1. Russ.

To a question of development of the system of wagon traffic
volume organization. **A. Chkhaidze, G. Telia, G. Chkhaidze.** ‘Problems of
Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 99-107, (rus.).

In this article, the basic principles of the organization of wagon traffic volume are considered. The method of calculation for the plan of single-group and group trains’ formation is proposed. The ways of guaranteeing the fulfillment of the acting plan for the formation of trains are represented. 3 ill. Bibl. 6. Russ.

Railroad sorting complex working in conditions of two-set
station. **G. Telia.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹
4(9), p. 108-113, (rus.).

In this article, the decisive importance of sorting stations in processing transit and local wagon traffic volumes and further prospects for their development are considered. The variant of powerful sorting complex, working in conditions of two-set station, is recommended. The calculation formulas regarding the processing capacity of a hump yard for two-set station are proposed. 1 ill. Bibl. 5. Russ.

Suppression of vibrations in frames with combined cross-bar.
**Yu. Melashvili, Z. Meskhi, P. Menabdishvili. **‘Problems of Applied
Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 114-120, (engl.).

The frames with combined cross-bars: with parallel brace and pendulum and with strut frame and pendulum are considered. The effectiveness of both combined cross-bars in suppression of vibration amplitudes under with and seismic actions is estimated.?? Engl.; summ. rus.

Methods of research of quality of forming of tea shrub and
work of cutting apparatus. **N. Gabunia, B. Khomasuridze.** ‘Problems of
Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 121-129, (rus.).

With utilizing a method of the mathematical statistics it is proposed the methods of a comparatively exact quantitative estimation of a quality of forming of the espaliers’ working surface, also a work of tea-cutting apparatus. It is deduced a calculated expression and it’s made a quantitative estimation of the work of cutting apparatus as on a plane as on slope. 6 ill. Bibl. 10. Russ.

For graphic modeling of apparatus for half-heavy cutting of
tea shrubs. **N. Gabunia, B. Khomasuridze.** ‘Problems of Applied Mechanics~.
Tbilisi, 2002, ¹ 4(9), p. 130-131, (rus.).

In the work it is proposed the theoretical calculation and graphic modeling of kinematics of hinge apparatus for half-heavy cutting of tea shrubs by drain canals. 1ill. Bibl. 3. Russ.

Numerical models of interaction of waves and currents on
littoral zone of eastern part of black sea. **A. Bregvadze, V. Gogadze, S.
Mania.** ‘Problems of Applied Mechanics~. Tbilisi, 2002, ¹ 4(9), p. 132-137,
(rus.).

In the work it is proposed the modifiable numerical model of the interaction of a waves and a currents in the littoral zone of the eastern past of Black sea. 1 ill. Bibl. 10. Russ.