A universal solution to an applied problem related to the study of deviations occurring in the joints of manipulation robots, for example, due to elastic deformations or gaps in them, is proposed. A mathematical (dynamic) model obtained by the Lagrange–Euler method is presented, making it possible to investigate such deviations. Six generalized coordinates, three linear and three angulars, were used to describe the variations of each joint in the dynamic model. This made it possible to introduce into consideration joints with six degrees of freedom (6-DOF joints). In addition, mathematical models for external forces acting on the links of manipulation robots are presented. When composing matrices of coefficients of equations of motion, elements identically equal to zero were excluded, which significantly increased the computational efficiency of these equations. The dynamic model based on the obtained equations can be used in the computer simulation of manipulation robots.

Experimental data on yields of multiparticle photonuclear reactions (involving the emission of up to seven neutrons from the nucleus involved) on ¹⁹⁷Au, ^203,205Tl, and ²⁰⁹Bi nuclei in the region extending from the giant dipole resonance to an energy of 67.7 MeV are presented. These data are compared with the results of modern theoretical calculations that take into account both the excitation of a giant dipole resonance (GDR) in a nucleus and the photodisintegration of quasideutrons (QD) in it. By and large, experimental data confirm the results of theoretical calculations—that is, only upon taking simultaneously into account both alternative photodisintegration mechanisms (GDR excitation and QD photodisintegration) can one describe these experimental data. The contribution of QD photodisintegration grows with increasing photon energy and neutron multiplicity and becomes dominant for reactions involving the emission of not less than five neutrons from the nucleus being considered. The integrated cross sections for the processes in question were estimated on the basis of simultaneously employing experimental yields of multinucleon photonuclear reactions and the respective cross-section shapes calculated theoretically.

A weak thermal conductivity (TC) of a polymer can be modified by inclusion of nanoparticles with high TC. Here we study the TC enhancement in epoxy resin (ER) based composites by incorporation of carbon nanotubes (CNTs) and demonstrate that the enhancement depends critically on the alignment of CNTs. The highest effect in TC enhancement (18.9) was obtained in ER with vertically aligned multiwall CNTs (VANTs) and in ER with horizontally aligned nanotubes (HANTs) (6.5). We analyze the influence of intrinsic structural factors of CNTs as well as extrinsic factors limiting the enhancement of the composite TC. The dynamics of heat propagation in ER/VANT, a strongly anisotropic and heterogeneous system, was studied experimentally, using laser flash apparatus (LFA), and by computer simulation, applying a coaxial cylinder model. It was found that the thermal resistivity CNT-ER interface to be a key extrinsic factor limiting the dynamics of the heat propagation. We show that these dynamics and the interface resistivity can be efficiently studied using the LFA technique.

An experiment on the irradiation of the natural mixture of ^203,205Tl isotopes by the bremsstrahlung beam of pulsed racetrack microtron RTM-70 (Skobeltsyn Institute of Nuclear Physics, Moscow State University) at an electron energy of 67.7 MeV was performed. The yields and integral cross sections of multiparticle photonuclear reactions with ^203,205Tl isotopes were measured.