The constitutional experience of consolidation the human rights function of the state in the post-soviet space

Norms, legalizing the human rights function of the state are identified in this article, based on the texts analysis of the constitutions of the states-members of the Commonwealth of Independent States (CIS

World experience of the electric power industry restructuring

The article reveals the factors affecting the electricity consumption in the world. Based on the study of the world experience in the restructuring of the electric power industry, five groups of methods are identified to improve its efficiency: organizational, consolidation of markets, financial, tax and environmental.У статті виявлено фактори, що впливають на споживання електроенергії в світі. На основі вивчення світової досвіду реструктуризації електроенергетичної галузі виділено п'ять груп методів щодо підвищення її ефективності: організаційний, консолідації ринків, фінансовий, податковий та екологічний.В статье выявлены факторы, влияющие на потребление электроэнергии в мире. На основе мирового опыта реструктуризации электроэнергетической отрасли выделены пять групп методов повышения ее эффективности: организационный, консолидации рынков, финансовый, налоговый и экологический

Effects of rotation and systematic occlusion on fiducial marker recognition

© 2017 The Authors. Fiducial marker systems consist of patterns that are placed in environment for miscellaneous applications and are further automatically detected with cameras. A variety of applications determines the criteria, which characterize qualitative properties of a marker and include such evaluation benchmarks as resilience to occlusion, distance to a marker, false positive and false negative rates, sensitivity to illumination, and others. The paper compares existing ARTag, AprilTag, and CALTag systems utilizing a high fidelity camera, which is a main vision sensor of a full-size Russian humanoid robot AR-601M. In experiments the comparison of the three marker systems reliability and detection rate in occlusions of various types and intensities was verified. Finally, a preferable for AR-601M robot visual applications marker system was selected

Investigation of the effect of copper addition on physical and mechanical properties of TiNi-Cu porous alloy

This work is devoted to the physical and mechanical properties of porous alloys based on TiNi alloyed with different amounts of Cu additive. We show that by doping a porous TiNi alloy with copper instead of nickel, it is possible to obtain characteristics acceptable for use in implantology and superior to those of known porous TiNi alloys. Cu addition in the range from 1 to 10 at.% is shown to optimize the properties of tested alloys. There is a decrease in the minimal martensitic transformation stress τminMs from 37 to 17 MPa when compared to initial unalloyed TiNi. Alloys with 3 and 6 at.% of Cu are found to be optimal for use in medical practice. Along with a wide temperature range of reversible deformations that cover the range of operating temperatures (273–313 K), such alloys demonstrate their martensitic transformation stress values below 28 MPs. This permits to model implantable structures of complex configuration from such materials under a certain temperature regime

THE HISTORY OF STANDARDIZATION DEVELOPMENT

The article is devoted to the history of standardization, the stages of its development, the relationship with product quality, technical regulation.Статья посвящена истории стандартизации, этапам ее развития, связи с качеством продукции, техническим регулированием

Comparing fiducial marker systems in the presence of occlusion

© 2017 IEEE. A fiducial marker system is a system of unique 2D (planar) marker, which is placed in an environment and automatically will be detected with a camera with a help of a corresponding detection algorithm. Application areas of these markers include industrial systems, augmented reality, robots navigation, human-robot interaction and others. Marker system designed for such different applications must be robust to such factors as view angles, occlusions, changing distances, etc. This paper compares three existing systems of markers: ARTag, AprilTag, and CALTag. As a benchmark, we use their reliability and detection rate in presence of occlusions of various types and intensity. The paper presents experimental comparison of these markers. The marker detection was performed with a simple inexpensive Web camera

ARTag, AprilTag and CALTag fiducial marker systems: Comparison in a presence of partial marker occlusion and rotation

© 2017 by SCITEPRESS - Science and Technology Publications, Lda. All Rights Reserved. Fiducial marker systems consist of patterns that are placed in environment and are automatically detected with a camera using appropriate for the marker detection algorithm. Marker systems are useful for many modern visual applications such as augmented reality, robot navigation and collaboration, industrial and space robotics, and human-robot interaction. A variety of applications demands certain quality assurance for marker properties. Among the most common criteria are resistance to partial occlusion and rotation, sensitivity to lightning conditions, marker size, false positive and false negative rates. This paper compares three types of markers for their resistance to partial occlusion in various types of occlusion and resistance to normal, lateral, and longitudinal rotations. Intensive experimental comparison of tags is presented with analysis. Detection of markers was performed with a common Web camera. Based on our experimental results, we have selected a marker system, which should be preferred for real world applications when only simple inexpensive hardware is available and appearance of rotation and occlusion disturbances are expected in the environment. Our long term goal is to calibrate humanoid robot manipulators in real-world environment applying a pre-calibrated camera of the robot, while the presented in this paper results help selecting a most suitable marker system for further calibration procedures

Preparation of porous TiNi-Ti alloy by diffusion sintering method and study of its composition, structure and martensitic transformations

The study demonstrates a method for controlling not only the phase composition but also the atomic composition of TiNi matrix in porous TiNi-Ti alloys developed for biomedical uses as implants. The alloys were obtained from TiNi powder which was sintered with Ti powder added at as much as 0–10 at%. The structure, phase and chemical composition of the produced TiNi-Ti alloys was investigated with respect to the amount of Ti added into the material. It is shown that in the sintered product containing 5 at% and more of Ti additive, the composition of its TiNi matrix becomes close to equiatomic (with Ti:Ni atomic ratio ~1), and the excessive Ti precipitates as secondary phases Ti2Ni and Ti3Ni4. In parallel, with increase in Ti ad- ditive from 0–10 at%, the structure of the precipitating Ti2Ni type phases changes its morphology from separate spherical or pyramidal precipitates to large dendritic formations. The direct martensitic trans- formation from austenite to martensite in all the samples was found to proceed in two stages and through the R-phase (B2→R→B19′). Thermoresistive analysis demonstrated that TiNi-Ti samples with 5 and more at% of Ti had their characteristic starting temperature of martensite transition stabilizing at ~57 °C (330 K). This implies that the sample with 5 at% of Ti additive exhibited desired martensite transition temperatures, while containing a minimum concentration of secondary-phase precipitates in its matrix which deteriorate its properties. Thus, for the 곙rst time, we show that a very simple preparation approach based on sintering powders of TiNi and Ti is capable of producing porous TiNi-Ti alloys with properties optimized for fabricating bone implants