develoPMent oF roBototechnological coMPlex oF intellectual ManageMent By Bread ManuFacturing For technological loading territories

The object of research is a technological line for production of bakery products. One of the most problematic places in the technological process of industrial production of bakery products is the incoming quality control and preliminary preparation of ingredients, as well as the implementation of the processes of preparation of dough and kneading dough. To improve and intensify the relevant processes, it is proposed to use robotic technological complexes with an intelligent control system and built-in intensifiers. The principle of the intensifiers of the technological process is based on ultrasonic technologies of water treatment, mixing of components, intensification of physical and chemical processes of bread production, quality control of the process. For the production of bread with therapeutic and prophylactic characteristics, the controlled ultrasonic cavitation effects are studied. It has been proved that processes of ultrasonic cavitation, disintegration, coagulation of water, flour, oil, liquid yeast, hydrochloric and sugar solutions and other ingredients promote the production of medical type. Ultrasonic cavitation causes increased fluid mixing of the micro streams that form around the oscillate bubbles. Such mixing is especially useful in the technological process of producing bread for dispersion when enriched with vitamins and minerals. Systems for automated control of parameters of pre-dough-dough based on high-frequency ultrasonic vibrations are developed. It is proved that robotic technological complexes with developed sensor system allow to reduce the salt and sugar content in bread by 15–20 % without changing the taste of the product. A multi-level intelligent system of automated management of the technological process of bread production has been developed. The architecture of this system uses a robotic technology complex with: – intellectual decision support system and training blocks; – databases and knowledge; – block output information on the corporate performance monitor; – automated workplace with an interface system; – artificial neural network for recognition of emergency, abnormal and normal situations. Thus, with the help of the robotic technological complexes built into the technological process of bread production, it is possible to achieve a higher quality of bakery products.


introduction
The competitiveness of enterprises for the production of bakery products working on the territory with anthropogenic load and pollution is determined by the quality of products and the ability to provide the population with safe products.
The production of bakery products in regions with man-made pressure requires the use of water purification technologies, and the addition of other reinforcing components to the formulation. This will lead to improved quality of bread and protection from microbiological contamination and deterioration.
The current state of the bakery industry in Ukraine is closely related to the development of technological equipment for the bread production. In all the variety of existing technologies and equipment for the production of bakery products, it is possible to distinguish a group of equipmentrobotic technological intensifiers. The latter increase the quality of products for regions with a high level of pollution.
Therefore, studies on the creation of complexes with robotic technological intensifiers of water purification and the production of innovative varieties of bread with therapeutic and prophylactic properties are relevant.

the object of research and its technological audit
The object of research is a technological line for the production of bakery products. The main equipment of the technological section for the preparation of dough and kneading dough is the pre-dough machine with a system for pre-dough conveying in dough mixers. At the baking stage, proofing cabinets and bread baking ovens are used.
The pre-dough fermentation lasts 2...4 hours at an initial temperature of 28 °C. The working technological characteristics of the pre-dough depends on the content of flour in it, its grade and quality, the quantity and strength of yeast, the water parameters.
The pre-dough quality and the fermentation regime are controlled by the following parameters: lift, density, moisture content. The next stage of bread production is related to the technological operation of the dough preparation. The dough is made for 3-20 minutes at a temperature of 28...30 °C. Fermentation of the dough takes place within 1-2 hours.
The density of wheat dough before the fermentation start is 1200 kg/m 3 , at the end of fermentation -500 kg/m 3 .
One of the most problematic places of the technological line for the production of bakery products is the stage of the pre-dough -dough process. Traditionally, this is due to the need to clean and activate water, other liquid components (vegetable oil, milk, whey, etc.); quality control of flour and yeast. And when adding additional functional ingredients in the dough, the problem arises of dispersing them through coagulation processes.
For the dough homogeneity, it is necessary to monitor the processes of cavitation and rheological properties during the whole pre-dough-dough cycle.

the aim and objectives of research
The aim of research is studying the possibilities of complex use of ultrasonic technologies in the production of bakery products, namely: to control the parameters of the pre-dough-dough, to intensify the process using robotic technological complexes.
To achieve the aim, the following tasks are set: 1. To investigate the influence of ultrasonic cavitation on the pre-dough and dough preparation processes of the baking industries.
2. To propose a comprehensive use of ultrasonic technologies and intensification of technological processes for the production of bakery products.
3. To develop the architecture of automated control systems for robotic technological complexes of bread production.

research of existing solutions of the problem
Among the bakery products for preventive and dietary nutrition can be identified products with high content ISSN 2226-3780 of dietary fiber; products from dispersed grain; products enriched with vitamins and minerals; products with high iodine content.
Products [1] will comply with EU standards provided that the influence of various harmful substances that are introduced into the process with water is reduced. Scientists [2,3] developed technologies for baking and confectionery dough on the basis of cavitation-activated water. Today, known technologies of cavitation processing of raw materials, which significantly improve the quality of bakery products [4].
The authors of scientific researches [5] developed the latest highly automated equipment for the production of bakery products for the population living in areas with technogenic pressure. The robotics level of production is discussed in [6], and the use of robotics processes in automated production of products was elaborated in [7]. Improving the quality of robotics was investigated by the authors [8,9].
In the above scientific works the concept of production of products for ecologically clean territories has been developed. The bread production for areas with man-made pressure requires a different approach to product quality control systems and automated management. To develop a new concept of equipment and systems for monitoring and automating products with therapeutic and prophylactic characteristics, it became necessary to conduct additional studies: -the possibility of using ultrasonic cavitation processes [10], and coagulation in the production of bread with innovative characteristics; -development of innovative products with increased food and biological value, high taste and organoleptic properties. Thus, people who live in ecologically polluted areas should receive safe products through the introduction of the robotic complexes developed below.

Methods of research
Analysis of trends in the development of modern robotics shows that the main priorities for the creation of robots for the food industry are robotic technological complexes [6,7]. Complexes will be called intelligent if they have a developed sensor system for evaluating the internal parameters of the control object and input variables of raw materials, water, and other ingredients. The coordination of the automated process control system (APCS) for the production of bread and robotical technical complexes was carried out with the help of expert systems (ES) and intelligent decision support systems (IDSS). The systems operate in real time with constant adaptation of solutions in accordance with the performance characteristics of equipment, flour, water, gas, electricity, etc. [5].
The principle of operation of robotic technological complexes -intensifiers of bread production -is based on the mechanisms of investigation of the influence of ultrasonic vibrations (UV) on a heterogeneous medium: pre-dough-dough, liquid-liquid and liquid-solid. Robotic technological complexes intensify the processes of mass transfer, processes of dispersion, separation of liquids and suspensions, and most importantly enhance various chemical and biological reactions. Ultrasound oscillations provide the finest dispersion (unrealizable in other ways), increasing the interfacial surface of the reacting elements [10].
An ultrasonic wave that passes through a liquid creates compression zones and rarefaction zones. These zones change places in each half-wave period. This gives rise to alternating pressure of the form: where ρ -the density, g/cm 3 ; C -speed of propagation of ultrasonic vibrations (UV), m/s; І -UV intensity, W/cm 2 . If the intensity is varied from 1 W/cm 2 to 2.5 W/cm 2 , then processes of excitation of homogeneity and linearity of fluid oscillations appear. As a result of this phenomenon, processes of cavitation arise [10].
If cavitation is performed controlled, then the use of bakery products in the production processes gives a positive effect [4].
If use the frequency of ultrasonic vibrations of 20, 30, 40, 100 kHz, it is possible to find the most optimal geometry of the equipment for mixing various components in the production of baked goods [2].
Ultrasonic cavitation causes increased fluid mixing of the micro streams that form around the oscillate bubbles. Such mixing is especially useful in the technological process of bread production when enriching it with vitamins and minerals and iodine.
Laboratory studies of the processes of cavitation disintegration prove the following: -cavitation disintegration improves the quality of bakery products, reducing the sensitivity of the process of pre-dough fermentation to the flour quality; -ultrasonic dispersion allows to prepare suspensions (solutions of salt, sugar, vitamin components), which have much higher taste characteristics and according to organoleptic parameters, the products meet the requirements of state standards: humidity -48 %, acidity -2 %, porosity -68 %; -at the frequencies of ultrasonic vibrations of 960-1600 kHz, the highest level of suspension dispersity is achieved; -at frequencies of ultrasonic oscillations of 400, 600 kHz with a probability of 0.95, parameters can be identified indirectly: the density of the pre-dough and the dough, the pre-dough fermentation property, the mass conductivity and the hydrodynamic conditions of the dough fermentation and the dough kneading; -at frequencies of ultrasonic oscillations of 100-120 kHz with a probability of 0.95, the parameters of the concentration of gas bubbles can be identified indirectly in the pre-dough-dough technological environment.

research results
Improving the bread quality by using ultrasound technology allows to offer intelligent management systems for the pre-dough-dough preparation with robotic technological intensifiers. Fig. 1 is a block diagram of a robotic technological complex for the production of bread. The technological line includes: ultrasonic devices for water purification, disintegration, mixing and intensification of microbiological, biochemical, colloid, chemical, hydrodynamic processes of bread production.

ISSN 2226-3780
In the control system of the technological process of raw material preparation, such blocks with robotic technological ultrasound complexes (RTUSC) are used: -RTUSC 1, RTUSC 2, respectively, for water purification and yeast disintegration; -RTUSC 3 -in the chambers A, B, and C, dispersion methods for the preparation of brine, sugar solution and dosing of fatty foods with reinforcing components were used. Robotic technological ultrasound complex consists of an ultrasound system (US), which interacts with the technological environment. The US includes the electronic generator (EG), the matching device (MD), the electroacoustic transducer (EAT), the concentrator (C) and the radiator (R). In the process of interaction of the piezoelec-tric oscillatory system (C-R) with the technological environment, the resistance of the system changes according to the formula [10]: or after the transformation: where Z -the equivalent resistance of the system; Z L -load resistance; R K -internal resistance of EAT piezoelectric transducers (P); K S -a parameter that indirectly characterizes information about the state of the technological environment with which US cooperates.
With the help of the automated control system (ACS), the parameters characterizing the technological operation of the pre-dough-dough preparation are checked. For this purpose, the piezo electric sensor system P 1 -P 2 , P 3 -P 4 , P 5 -P 6 , built into the technological environment of the apparatus, was used. The analyzer consists of three analogous channels: -1st channel (piezoelectric sensors P 1 -P 2 )indirectly controls the density and other parameters of the pre-dough (the stage of pre-dough kneading); -2nd channel (piezoelectric sensors P 3 -P 4 )indirectly controls the stage of fermentation of the pre-dough-dough, evaluating their homogeneity and hydrodynamic parameters and its properties; -3rd channel (piezoelectric sensors P 5 -P 6 )determines the concentration of gas bubbles in the pre-dough-dough medium. When ultrasonic oscillations pass through the pre-dough-dough due to absorption, due to the viscosity and thermal conductivity of the medium, the amplitude of the signal is weakened in accordance with the expression: where A 0 -the amplitude of oscillations emitted by the source devices of ultrasonic oscillations P 1 , P 3 , P 5 ; A y -amplitude of oscillations received by sensors -piezoelectric elements (P 2 , P 4 , P 6 ); αattenuation coefficient; y -the distance between piezoelectric elements. The third channel of the monitoring system is adjusted to the resonance frequency of cavitation bubbles liquid-predough-dough. The channel evaluates the optimal parameters of the cavitation effects of the ultrasonic field on the dough. The main parameter characterizing the effectiveness of the cavitation effect is the cavitation index (CI): where V -the volume of the liquid (pre-dough, dough); ΔV is volume of cavitation bubbles. The cavitation index will be used for the indirect evaluation of the efficiency of the robotic technological ultrasound complex, the preparation of the pre-dough and the dough.  ISSN 2226-3780 In the process of developing an intelligent control system for robotic technological complexes, databases (DB), knowledge bases (KB), expert system, intellectual decision support system were constructed. The identification of the technological process of production of pre-dough-dough is made with the help of the sensor system P 2 , P 4 , P 6 , S 7 -S 9 , and also the knowledge of the technologists on the expert evaluation of the technological processes of bread production is used. At the same time, experts turned to prior knowledge of the knowledge, rules, models and characteristics of the pre-dough and dough described by the authors [1,2,5,11,12] and models of interaction of ultrasound with biological objects [4,10]. In the process of expert studies, the following is established: -the initial temperature of pre-dough fermentation (28 °C) is lower than the temperature of dough fermentation (30 °C). Fermentation of the douches lasts 3.5-4.5 hours, depending on the content of flour, its grade, quality and quantity of yeast. Moisture and temperature of the pre-dough, the gas-forming ability of the flour and its acidity, the density of the pre-dough and the lifting force, the active acidity of the pre-dough determine the rheological properties of the pre-dough and dough; -the process of pre-dough and dough preparation indirectly can be controlled with aromatic properties, that is, diffusion of water vapor from the surface (odor sensor TGS2620 (Tagushi Gas Sensop, USA) and visualization system (VS)).
In the future, the expert system (ES) from a trained artificial neural network (ANN) and an electronic computer processes and evaluates the incoming from the sensors: -piezoelectric elements P 2 , P 4 , P 6 ; -from the sensor system S 7 -S 11 ; -sensors that monitor the parameters of the ultrasound system Z L , R K , K S , IK. As a result of ES identification: -determines the optimal working time of robotic technological complexes to RTUSC 1, RTUSC 2, RTUSC 3 and the power; -performs predictive parameters: a) K 2 -hydrodynamic conditions of pre-dough fermentation and dough kneading; b) Р pd -lifting power of the pre-dough; c) ρ pd , ρ d -pre-dough and dough density; d) λ m -mass transfer coefficient; e) a m -internal mass transfer coefficient, which depends on temperature and moisture and indicates an intense property of flour to external disturbances of water, solutions and other amplifiers. The main task of the expert system is selection of the optimal settings in proportion to the integral differential controllers (PID controllers) ACSFP 1, ACSPDP 2, ACSDP 3, ACSPS4, ACSBS 5.
In the course of experimental studies it was established: -at the ultrasonic frequency f 1 = 600 kHz, the signals from the sensor P 2 (A y2 ) indirectly identify the factors K 2 , P pd , ρ pd ; -at the ultrasonic frequency f 2 = 400 kHz, the signals from the sensor P 4 (A y1 ) indirectly identify the factors ρ d , λ m , a m . The architecture of an intelligent bakery management system with an IDSS includes: -expert system (ES), training block (TB), knowledge base (KB), database (DB), output block (OB), corporate monitor (CM), workstations (operators) and dispatcher of bakery and interface system (interaction with an expert, an object and a user); -control system for bread production (ACSBP) with a computer at the upper level and local systems of the lower (operational) level. In the process control system of bread production, built on the basis of SCADAsystems [13,14], three structural components are included: 1) RTU, MTU and CS. RTU (Romote Terminal Unit)terminal that processes information from sensors P 1 -P 6 , S 1 -S 11 ; 2) visualization system (machine vision); 3) robotic ultrasound intensifiers, 1, 2, 3. RTU systems operate in hard real-time mode. In turn, MTU (Mater Terminal Unit) is a control room with operator and dispatcher workplaces. The main task of MTU is providing an interface between the operator and the bakery management system.
The CS system (CommunicationSystem) is a communication system (communication channels, information bus (IB)).
The main task of the CS system is the transmission of control signals to the RTU. The robotic technological complex includes: -adaptive control systems for individual technological processes and stages of ACSFP 1, ACSPDP 2, ACSDP 3, ACSPS4, ACSBS 5, AQCSP 6; -automated control system (ACS), at the input of which through the ports 1-11, signals from the sensors P 2 , P 4 , P 6 -piezoelectric elements are detected, which are estimated indirectly: 1) rheological properties of the pre-dough and dough; 2) lifting force of the pre-dough; 3) active acidity of the pre-dough; 4) acidity of the pre-dough and odor (S 7 , S 8 ); 5) the forming ability of the dough piece (S 9 ); 6) duration of proofing dough pieces; 7) proofing temperature; 8) moisture in the proofing cabinet. The mass of the dough piece is monitored by the S 10 sensor system. Porosity of bread, its acidity, shape stability, humidity, temperature of the center is softer, the duration of baking of dough pieces is controlled indirectly by the sensor system S 11 , and the visualization system (VS). The system uses the device of artificial neural networks for realization of search of decisions of optimum modes of bread production stages. This is achieved by recognizing the production situation and determining S n -problem situations at a pace with the process of bread production.
The recognition of situations S b and S n from a set of n situations will be called a classification process. With this interpretation, the S b or S n situation is obtained as an initial result at the output of the output block (OB) of the IDSS. To learn the multilayer ANN, the method of back propagation of the error was used [15]. In the process of network training, the training expert sets: the training speed, the number of situations S b , S n for each of the technological stages [15]. This approach makes it possible to significantly improve the accuracy of the recognition of situations and assess the state of the operating characteristics of technological processes: pre-dough fermentation, dough homogeneity and management of the baking processes.
In the automated process control system for bread production, algorithms for the intelligent management of ISSN 2226-3780 raw material preparation processes, pre-dough and dough preparation, proofing and baking with expert evaluation of the quality of raw materials, semi-finished products and finished products with decision support subsystems developed in detail by the authors were used [2,5,15]. Intelligent decision support system based on the information of the sensors of the DB, KB, OB, TB, expert system ES, and ACSFP 1, ACSPDP 2, ACSDP 3, ACSPS4, ACSBS 5, AQCSP 6 changes the operating modes of the ultrasonic systems 1, 2, 3. This is accomplished through the implementation of mechanisms by working out the optimal administrative influences on a heterogeneous technological environment. Parameters of flour are assessed by the AQCSP 6 expert system (ES) of product quality control.
The recommendations of the last of the RTU, CS come to the ACSFP 1. IDSS recommends, in an interactive mode using CM, a method for improving the properties of flour, pre-dough and dough for vitaminizing the bread properties.
Thus, the complex effect of frequency, intensity and speed of ultrasonic vibrations, creation of effects of cavitation, dispersion, disintegration, coagulation allows to optimize the operations of pre-dough and dough preparation. That is, with the help of the robotic technological complexes built into the technological process of bread production, it is possible to achieve a higher quality of bakery products.

sWot analysis of research results
Strengths. To the strengths of the developed robotic technological complex of bread production with the functional characteristics of the therapeutic and prophylactic purpose, let's refer: -purification and activation of water; -possibility of using low-strength and/or additives flour in the recipe; -robotic technological intensifiers provide the finest dispersion of curative ingredients in dough, which can't be achieved by traditional methods; -intensification of mass transfer processes.
Weaknesses. To the weak sides, it is possible to attribute additional costs for the creation of robotic technological complexes in existing technological lines.
Opportunities. Among the capabilities of the complex should be noted the creation of innovative products of the therapeutic and prophylactic type, which determines the obvious social effect for people living in contaminated areas.
Threats. Threats include raising the standards of maintenance of process equipment and the possible increase in the cost of the final product.

conclusions
1. For the bread production with therapeutic and prophylactic characteristics, a study is made of the controlled ultrasonic cavitation effects. It has been proved that processes of ultrasonic cavitation, disintegration, coagulation of water, flour, oil, liquid yeast, hydrochloric and sugar solutions and other ingredients promote the production of medical type.
Ultrasonic cavitation causes increases fluid mixing of the micro streams that form around the oscillate bubbles. Such mixing is especially useful in the technological process of producing bread for dispersion when enriched with vitamins and minerals.
2. Systems for automated control of parameters of pre-dough-dough based on high-frequency ultrasonic vibrations are developed. In the system of intensification of production, water purification, yeast disintegration and dispercing of brines, the use of robotic technological intensifiers is suggested. It is proved that robotic technological complexes with developed sensor system allow to reduce the salt and sugar content in bread by 15-20 % without changing the taste of the product. 3. A multi-level intelligent system of automated management of the technological process of bread production has been developed. The architecture of this system uses a robotic technology complex with: -intellectual decision support system and training blocks; -databases and knowledge; -block output information on the corporate performance monitor; -automated workplace with an interface system; -artificial neural network for recognition of emergency, abnormal and normal situations. references