Instruments and Systems: Monitoring, Control, and Diagnostics Annotation << Back Synthesis of Algorithm of Fire Robot Barrel Movement During Cooling of Building Structure Surfaces I.N. POZHARKOVA The article is devoted to the development of a method for synthesizing the algorithm for moving the barrel of a fire robot while cooling the surfaces of building structures. The task of guiding the jet to the target with robotic spraying with a fire extinguishing substance of a given area was set. A functional model of the developed technique is presented, as well as various methods for forming the trajectory of the contact spot along the cooled surface. An algorithm has been developed for plotting changes in guidance angles that ensure complete coverage of protected building structures with a fi re extinguishing agent in a given area. The results of approbation of developed technology for synthesis of algorithms of fire robot barrel movement at cooling of underground research laboratory arch surface on the basis of various irrigation methods are presented. Keywords: fire robots, synthesis of control algorithm, cooling of building structures, simulation, machine learning. DOI: 10.25791/pribor.2.2025.1558 Pp. 34-43.