Stable Cliff Climbing For Hexapod Robot With Articulated Body

The paper describes kinematic control for hexapod robot with three{segment articulated body. Forward and inverse kinematics for articulated body de- scribed. Static stability studied in case of climbing the so{called cli obstacle. Conditions for static stability during climbing sequence provided

Нахождение областей сходимости и вычисление сумм степенных рядов от h-комплексного переменного

Herein, taking power series from a real variable that converge on a certain interval to known sums, the authors consider the power series with the same coefficients from an h-complex variable. For such series, the interiors of the regions of convergence are found, and their sums are explicitly expressed in terms of the sums of the original series. Along the way, the problem of isolation conditions for the zeros of the sums of such series is solved.Взяв степенные ряды от вещественного переменного, сходящиеся на некотором интервале к известным суммам, авторы рассматривают степенные ряды с теми же коэффициентами от h-комплексного переменного. Для таких рядов найдены внутренности областей сходимости, а их суммы явно выражены через суммы исходных рядов. Попутно решен вопрос об условиях изолированности нулей сумм таких рядов

Incidence of pancreatic malignancies in the Russian Federation: a retrospective cohort trial

Background. Pancreatic malignancies pose a challenging medical and social problem. The assessment of oncology care requires an in-depth analysis of morbidity and lethality. At a relatively improved prevalence and lethality in other-locale malignancies, pancreatic cancer remains a disappointing situation. Medical statistics in pancreatic malignancy can be used for the specialty care prediction and implementation of measures to advance diagnostic algorithms and population screening.Objectives. An assessment of the pancreatic malignancy incidence and mortality in the adult population of Russian Federation over a six-year period.Methods. A retrospective descriptive cohort trial included statistical data on morbidity and mortality in pancreatic cancer patients (C 25.0-C 25.9) according to the ICD of 10th edition. A comparison cohort sampled patients with all-locale neoplasms (C00-C96) according to the ICD of 10th edition, excluding nosologies C25.0-C25.9. Information was sourced in the Federal Statistical Abstracts for the period of 2014-2019. Inclusion criteria: the study cohort included pancreatic cancer patients diagnosed at the age of 18 years on, and comparison cohort — malignancy patients diagnosed with at 18 years on. The main study indicator were the pancreatic cancer morbidity and mortality figures in Russia.Results. Pancreatic cancer was shown to co-increase main morbidity figures in 2014-2019 compared to malignant neoplasms of other localities. Other-locale malignancies decreased mortality over the study period, which was not the case with pancreatic cancer. The period exhibits more frequent morphologically verified diagnoses and higher population numbers registered with specialty dispensaries. Registered pancreatic cancer figures are significantly higher in the female population. The proportion of advanced pancreatic malignancies at primary diagnosis exceeds that of early stages.Conclusion. The findings expose a demand for improving the system of early pancreatic cancer detection via intensifying preventive measures to capture the patient’s predisposition and screening techniques for early disease diagnosis. An active outpatient surveillance is prerequisite to an effective population involvement in dispensary screening

Температурная зависимость ширины запрещенной зоны монокристаллов AgIn7S11

AgIn7S11 single crystals are herein grown by the vertical Bridgman method. The composition of the obtained single crystals is determined by X-ray microprobe analysis as well as the crystal structure – by X-ray diffraction analysis. It is shown that the obtained single crystals are crystallized in the cubic spinel structure. Using transmission spectra in the tem- perature range 10–320 K we determined the band gap of these single crystals and plotted its temperature dependence. This dependence is similar to that of the majority of semiconductor materials, namely, Eg increases with decreasing the tempera- ture. We showed the agreement of the calculated and experimental values.Вертикальным методом Бриджмена выращены монокристаллы AgIn7S11. Методом рентгеноспектрального анализа определен их состав, рентгеновским методом – кристаллическая структура. Показано, что полученные монокристаллы кристаллизуются в кубической структуре шпинели. По спектрам пропускания в интервале температур 10–320 К определена ширина запрещенной зоны указанных монокристаллов и построена ее температурная зависимость. Данная зависимость имеет вид, характерный для большинства полупроводниковых материалов: с понижением температуры Eg возрастает. Показано, что расчетные и экспериментальные величины согласуются между собой

Genotypic distinctions of variability of biochemical composition of fruits of Vacciniaceae species under conditions of Belarus

Result of research of quantitative characteristics of biochemical composition of fruits of 30 taxons of 3 Vacciniaceae species (such as V. corymbosum L. (highbush blueberry), V. vitis-idaea L. (lingonberry) and Oxycoccus macrocarpus (Ait.) Pers. (cranberry)) inter-specific distinctions of a degree of stability of its separate components to complex influence of meteorological factors are revealed by 32 parameters (traits) describing the contents in fruits of some organic acids, carbohydrates, phenolic compounds, terpenoids and major mineral elements are presented. The cultivars possessing by the greatest and accordingly by the least levels of dependence on abiotic factors are identified

3D Gamma-ray and Neutron Mapping in Real-Time with the Localization and Mapping Platform from Unmanned Aerial Systems and Man-Portable Configurations

Nuclear Scene Data Fusion (SDF), implemented in the Localization and Mapping Platform (LAMP) fuses three-dimensional (3D), real-time volumetric reconstructions of radiation sources with contextual information (e.g. LIDAR, camera, etc.) derived from the environment around the detector system. This information, particularly when obtained in real time, may be transformative for applications, including directed search for lost or stolen sources, consequence management after the release of radioactive materials, or contamination avoidance in security-related or emergency response scenarios. 3D reconstructions enabled by SDF localize contamination or hotspots to specific areas or objects, providing higher resolution over larger areas than conventional 2D approaches, and enabling more efficient planning and response, particularly in complex 3D environments. In this work, we present the expansion of these gamma-ray mapping concepts to neutron source localization. Here we integrate LAMP with a custom $Cs_2LiLa(Br,Cl)_6:Ce$ (CLLBC) scintillator detector sensitive to both gamma-rays and neutrons, which we dub Neutron Gamma LAMP (NG-LAMP). NG-LAMP enables simultaneous neutron and gamma-ray mapping with high resolution gamma-ray spectroscopy. We demonstrate the ability to detect and localize surrogate Special Nuclear Materials (SNM) in real-time and in 3D based on neutron signatures alone, which is critical for the detection of heavily shielded SNM, when gamma-ray signatures are attenuated. In this work, we show for the first time the ability to localize, in 3D and realtime, a neutron source in the presence of a strong gamma-ray source, simultaneous and spectroscopic localization of three gamma-ray sources and a neutron source, and finally the localization of a surrogate SNM source based on neutron signatures alone, where gamma-ray data are consistent with background

Specific features of designing a database for neuro-oncological 3D MRI images to be used in training artificial intelligence

The research was aimed at analyzing current approaches to the organization and design methodology of visualization database built on the basis of computer vision. Such approaches are necessary for effective development of diagnostic systems using artificial intelligence (AI). A training data set of high quality is a mandatory prerequisite for that. Material and methods. The paper presents the technology for designing an annotated database (SBT Dataset) that contains about 1000 clinical cases based on the archived data acquired by the Federal Neurosurgical Center, Novosibirsk, Russia including data on patients with astrocytoma, glioblastoma, meningioma, neurinoma, and patients with metastases of somatic tumors. Each case is represented by a preoperative MRI. The Results and Discussion. The dataset was built (SBT Dataset) containing segmented 3D MRI images of 5 types of brain tumors with 991 verified observations. Each case is represented by four MRI sequences T1-WI, T1C (with Gd-contrast), T2-WI and T2-FLAIR with histological and histochemical postoperative confirmation. Tumors segmentation with verification of the tumor core elements boundaries and perifocal edema was approved by two certified experienced neuroradiologists. Conclusion. The database built during the research is comparable in its volume and quality (verification level) with the state-of-the-art databases. The methodological approaches proposed in this paper were focused on designing the high-quality medical computer vision systems. The database was used to create artificial intelligence systems with the “physician assistant” functions for preoperative MRI diagnostics in neurosurgery

V838 Monocerotis: A Geometric Distance from Hubble Space Telescope Polarimetric Imaging of its Light Echo

Following the outburst of the unusual variable star V838 Monocerotis in 2002, a spectacular light echo appeared. A light echo provides the possibility of direct geometric distance determination, because it should contain a ring of highly linearly polarized light at a linear radius of ct, where t is the time since the outburst. We present imaging polarimetry of the V838 Mon light echo, obtained in 2002 and 2005 with the Advanced Camera for Surveys onboard the Hubble Space Telescope, which confirms the presence of the highly polarized ring. Based on detailed modeling that takes into account the outburst light curve, the paraboloidal echo geometry, and the physics of dust scattering and polarization, we find a distance of 6.1+-0.6 kpc. The error is dominated by the systematic uncertainty in the scattering angle of maximum linear polarization, taken to be theta_{max}=90^o +- 5^o. The polarimetric distance agrees remarkably well with a distance of 6.2+-1.5 kpc obtained from the entirely independent method of main-sequence fitting to a sparse star cluster associated with V838 Mon. At this distance, V838 Mon at maximum light had M_V\simeq-9.8, making it temporarily one of the most luminous stars in the Local Group. Our validation of the polarimetric method offers promise for measurement of extragalactic distances using supernova light echoes.Comment: 43 pages, 17 figures, 3 tables; accepted for publication in the Astronomical Journal. Version with high-quality figures available at http://www.stsci.edu/~bond/v838monpolariz.pd