February 28 · Article · Traumatology and Orthopаedics of Kazakhstan · Biomedical Engineering
The aim: To evaluate the kinematic performance of a cable-driven elbow-wrist exoskeleton intended for upper limb rehabilitation in orthopaedic and post-traumatic conditions. Methods. A four-degree-of-freedom cable-driven exoskeleton was designed to assist elbow flexion-extension and multi-axis wrist motion. To reduce distal inertia and minimize joint misalignment commonly associated with rigid transmission systems, a cable-based actuation architecture was implemented. The elbow mechanism was configured as a single-degree-of-freedom joint powered by two antagonistic motors enabling bidirectional torque generation and modulation of joint stiffness through co-contraction principles. The wrist module provided three rotational degrees of freedom actuated by four tendons, where three cables-controlled roll and pitch motions and a diagonally oriented cable enabled yaw rotation. Kinematic modeling was performed using homogeneous transformation matrices to establish forward and inverse kinematic relationships from the proximal fixation point to the distal platform. Numerical simulations were conducted in MATLAB, followed by experimental validation on a scaled prototype. Cable displacement responses were compared with theoretical inverse kinematic predictions throughout the operational workspace. Results. The developed system demonstrated consistent agreement between theoretical modeling and experimental measurements. The elbow module achieved controlled flexion and extension within a range from minus sixty to sixty degrees, with stable bidirectional motion and predictable cable displacement patterns. The wrist mechanism preserved smooth multi-axis rotation and maintained mechanical transparency across roll, pitch, and yaw movements without evidence of kinematic singularities within the tested workspace. Experimental results confirmed accurate mapping between joint angles and cable actuation lengths, supporting the validity of the proposed kinematic model. Conclusion. The proposed cable-driven elbow–wrist exoskeleton demonstrates reliable kinematic performance and reduced mechanical inertia compared to rigid transmission systems. The validated modeling framework establishes a foundation for the future implementation of hybrid position and torque control strategies in orthopaedic upper limb rehabilitation technologies.
ATAdilet ToleshevOpen access
February 28 · Data in Brief · Artificial Intelligence
In this paper, we introduce UzbekPOS — a part-of-speech (POS) tagged dataset manually annotated for the Uzbek language, designed for natural language processing, artificial intelligence models, and corpus linguistics applications. This tagged corpus is currently the largest publicly available POS-tagged corpus for the Uzbek language . The dataset comprises sentences drawn from a diverse range of Uzbek text sources, including literature, news outlets, science, education, and public speaking, to reflect linguistic and topical diversity. The sentences are tokenized and annotated by professional annotators, utilizing a finely grained POS tagset which integrates standard Universal Dependencies with additional labels that are specific to the morphological and syntactic features of the Uzbek language, comprising 16 tags in total. The UzbekPOS contains almost 4.5K sentences and more than 53K token/tag pairs, with each annotation cross-verified by at least two annotators for highest reliability. It also comes with both raw (txt) and generally accepted formats of distribution (TSV, JSON), as well as the universal POS-tagging format (conllu). This resource is one of the first and the largest openly published POS-tagged dataset for Uzbek, an under-resourced and morphologically complex Turkic language. This dataset can also act as a key foundation for training POS taggers, as a test set for machine learning models, and as a source for linguistic studies. The resource also bears the reusability potential for tasks of related kinds, such as morphological analysis, syntactic parsing, and transfer learning across languages of the Turkic family. Furthermore, this dataset can serve as seed material for creating similar corpora of POS for other Turkic languages and can help conduct cross-linguistic analyses and tool building.
JVJernej VičičOpen access
February 27 · Article · Discover Applied Sciences · Industrial and Manufacturing Engineering
Abstract Global containerization has become the backbone of international supply chains, and container terminals continue to face difficulties caused by random and irregular cargo flows. These challenges are even more evident in landlocked countries such as Uzbekistan, where terminals must handle rising trade volumes with limited infrastructure. We developed a discrete time Monte Carlo simulation framework to quantify how arrival variability, service uncertainty, and batch dispatch rules jointly determine inventory dynamics and congestion risk. Each scenario is evaluated using 3000 independent replications over 365 days horizon with a 60-day warm-up and 305 steady state observation days. The terminal is modeled with fixed operational constraints; yard C = 60 containers, batch size Q = 40 containers per train, and a maximum of one train departure per day. Six demand service configurations vary the arrival intensity λ and a non-train service capacity µ. Results reveal a pronounced threshold driven behavior. The annual train formations increase from 0.01 under low demand (mean yard occupancy 0.109) to 31.99 under peak and disruption conditions (occupancy 0.405). In the base case (λ = .52, µ = 4.8), mean steady state inventory is 18.73 containers (31.2% occupancy), which is producing an average 4.65 trains per year with no observed overflow across approximately 915,000 simulated terminal days. Congestion, defined as P( I t ≥ 0.9C ), is zero in four scenarios and remains rare under the most stressed conditions with pooled probabilities of 2.73 × 10 –5 and 5.25 × 10 –5 . Importantly, mean inventory increases from 6.54 to 24.30 containers as occupancy rises from 0.109 to 0.405 even when binary congestion and overflow indicators remain near zero. This demonstrates that inventory accumulation provides an earlier and more sensitive signal of operational stress than both dispatch rules induce nonlinear operating regimes that are not captured by mean value analysis, with direct implications for capacity planning and batch sizing decisions in inland railway terminals.
ZMZiyoda MukhamedovaOpen access
