http://hdl.handle.net/20.500.14044/38758 Sun, 26 Jul 2026 00:43:15 GMT 2026-07-26T00:43:15Z http://hdl.handle.net/20.500.14044/38808 Design of Dynamically Balanced Gait for the Biped Robot While Crossing the Ditch Khan, Moh Shahid; Mandava, Ravi Kumar The current research work aims to generate the dynamically balanced gait for the 16-DOF biped robot while crossing the ditch by using the concept of the zero moment point (ZMP). Initially, forward kinematics was established to obtain the position and orientation of the biped robot while crossing the ditch. The various joint angles of the biped robot were estimated by deriving the inverse kinematics. Further, the dynamics of the biped robot was obtained using the Lagrange-Euler formulation. A cubic polynomial equation was assigned for the smooth motion of foot and wrist trajectories in the sagittal plane and hip trajectory in the horizontal plane. The obtained cubic polynomial trajectory for the foot was compared with the second-order and fifth-order polynomial trajectories in terms of dynamic balance margin (DBM). A simulation study was conducted to verify the dynamically balanced gait while crossing the ditch. Finally, the generated gait angles were tested on a real 16-DOF biped robot. It has been found that the generated gait is more dynamically balanced while crossing the ditch. Sun, 01 Jan 2023 00:00:00 GMT http://hdl.handle.net/20.500.14044/38808 2023-01-01T00:00:00Z http://hdl.handle.net/20.500.14044/38806 Modular Type of Learning Management System Services Formation based on Semantic Proximity Kumargazhanova, Saule; Fedkin, Yevgeniy; Smailova, Saule; Denissova, Natalya; Rakhmetullina, Saule; Blinayeva, Yelena Despite the many ready-made LMS solutions, there is a problem of creating LMS systems with a flexible architecture and meeting all user requirements. When creating such systems, it is difficult to take into account all the requirements for the functionality of the system. This paper proposes an approach to the formation of a service-oriented LMS based on modules. At the same time, depending on the functionality, the user can form the necessary functionality based on services, processes and objects. A cluster approach is used to form a finite set of modules. Sun, 01 Jan 2023 00:00:00 GMT http://hdl.handle.net/20.500.14044/38806 2023-01-01T00:00:00Z http://hdl.handle.net/20.500.14044/38803 Analysis of the Soil Selective Potassium Content, using Multifrequency EC Sensors Horváth, János; Kátai, László; Szabó, István The relative salinity of soil is an important issue in today’s sustainable, site-specific Precision Agricultural practice. The need to replace salt has an enormous impact on production costs, regarding current input prices. The standard method for measuring the salinity of a soil, based on a laboratory test method, is expensive and cumbersome and only the total salinity content can be determined. Growers need to get data faster and cheaper. With the usage of on-the-go soil sensors, this process can be significantly improved. This article presents the first step of developing a quick, cost-saving and easy-to-use measurement method for determining the selective potassium content on the spot, in real time. In our work, we developed a new measurement and calculation method using the analytical application of multifrequency conductometry, to determine selective salinity. It is proved that the electrical conductivity (EC) develops according to different functions, by applying solutions containing K+ ions with a defined concentration, by saturating the soil with a continuously, but reasonably varying measuring frequency. Based on this recognition, the selective salinity of soil can only be determined by interpolation from a frequency-series of EC measurements, in soils containing only one electrolyte. Sun, 01 Jan 2023 00:00:00 GMT http://hdl.handle.net/20.500.14044/38803 2023-01-01T00:00:00Z http://hdl.handle.net/20.500.14044/38801 Water 4.0 in Hungary: Prospects and Cybersecurity Concerns Szádeczky, Tamás This paper discusses the increasing significance of smart water management, within the context of the fourth industrial revolution and the associated cybersecurity risks, particularly in Hungary and Central Europe. By examining the current state of smart water management and analyzing the various cybersecurity threats, this study seeks to raise awareness around the need for enhanced security measures, in this critical sector. The research methodology is primarily based on a through literature review and secondarily, on related data analysis. The paper identifies several cybersecurity challenges and potential solutions for smart water management and finally suggests future research directions, to ensure the safe and sustainable development of this critical infrastructure. Sun, 01 Jan 2023 00:00:00 GMT http://hdl.handle.net/20.500.14044/38801 2023-01-01T00:00:00Z