The article presents the results of a survey of two industrial buildings, conclusions about their emergency technical condition and the inexpediency of restoration. Modern methods of demolition and dismantling of buildings in the cramped conditions of the existing urban development are analyzed. The main technologies of recycling dismantling and disposal of construction waste generated during the dismantling of buildings are considered: "smart demolition" and the technology of piecemeal disassembly of buildings with the reuse of materials, products and structures. Comparing the two methods of recycling dismantling for application to the objects under consideration, it is concluded that the first method of "smart demolition" implies the destruction of all building structures, while the second is more rational in terms of resource conservation and economic efficiency by reuse of serviceable structures. The technology of piecemeal disassembly of buildings with the reuse of structures requires the development of regulatory, organizational and marketing measures.

Keywords: building inspection, demolition, dismantling, dismantling methods, smart demolition, recycling dismantling, reuse of structures

In the automation of production, the use of robots is an important direction. When developing algorithms for controlling the movement of such a machine, multidirectional problems arise. In a critical situation, the robot must not harm workers or collide with its fellow robot. At the same time, the car must move along the optimal route. The article analyzes the methods of finding optimal paths on square navigation grids. The wave method on undirected planar graphs, the A* algorithm (an extension of Dijkstra's algorithm), and the D* Lite algorithm for graphs with non-constant or previously unknown structure were chosen for the analysis. A visualization and testing system in C#has been developed for the research and testing of algorithms. The system is implemented using the Microsoft Visual Studio 2019 IDE software tools and external GraphX and Emgu CV libraries. A unique feature of the system is the ability to directly read images of shop floor maps in widely used graphic formats and automatically convert them to a format that is understandable to the system. First, the user uploads the shop floor plan. For easier processing, the image is converted to two colors: black and white. Then the image is processed by the Emgu CV library, at the output we get all the contours of stationary obstacles. Then, depending on the size of the robot, an orthogonal navigation grid is superimposed. The analysis of the obtained results allows us to conclude that it is better to use a method (the D* Lite algorithm) that allows for a non-constant or unknown grid structure in advance.

Keywords: visualization, program, graphic format, work, shop, map, square, grid, cell, navigation, optimal route, planar graph