Security methods for a group of mobile robots according to the requirements of Russian and foreign legislation

This paper is devoted to the problem of creating security methods for mobile robotic systems. The urgency of the problem of ensuring the security of mobile robotic systems is associated with the presence of a contradiction between the growing popularity of the mobile robotic systems and the presence of many vulnerabilitie

The value of the analysis of the urinary stones for studying the features of urolithiasis pathogenesis

Introduction. Urolithiasis is a multifactorial recurrent disease, unevenly spread throughout the world and characterizedby the formation of urinary stones of various chemical compositions, depending on pathogenesis, etiological, and epidemiological risk factors. Understanding the composition of chemicals and their prevailing ratios can help make decisions about treatment tactics, preventive measures to reduce the risk of recurrence and the prevalence of urolithiasis.Purpose of the study. To assess the distribution of chemical components in urinary stones along with an analysis of their population significance.Materials and methods. The urinary stones were obtained from 2854 patients with urolithiasis. The composition of urinary stones was analyzed by using an infrared spectroscopy method.Results. The predominance of oxalate stones was determined in multicomponent kidney stones (83,7%) and the prevalence of urate stones (54,2%) was revealed in monocomponent kidney stones. Urinary stones with a predominance of oxalates contained significantly fewer impurities (12.4%) than urinary stones with a predominance of urates, phosphates and carbonates with an average amount of impurities >24.0%.Conclusion. The analysis of urinary stones distribution based on pathogenic factors showed that the calcium metabolism disturbances prevail in the population of the Russian Federation (88.0%)

Developing models of IoT infrastructures to identify vulnerabilities and analyse threats

This article describes the developing stands of typical IoT infrastructure Technologies, which are designed to identify vulnerabilities and analyse potential threats. Scenarios of attacks typical for such systems have been developed, and the consequences of implementing attacks have been determined. Attacker can use the developed scenarios, been motivated by different goal

Immunobiological Properties of <i>Francisella tularensis</i> 15/10 Strain with Deleted recA Gene

Deletion of recA gene in Francisella tularensis 15/10 genome leads to the increase in its sensitivity to ultraviolet irradiation, reduction of the homologous recombination capacity, and a slight decline of virulence for mice. Efficacy of Francisella tularensis 15/10ΔrecA reproduction within microphage-like cells, its resistance to normal rabbit serum, and protective properties on the mouse model of tularemia are the same as in original Francisella tularensis 15/10

Epizootic Activity of Natural and Anthropourgic Tularemia Foci in the Territory of the Jewish Autonomous Region and the Khabarovsk City Outskirts during the Amur River Flood

Widespread epizootiological investigations were performed to estimate the influence of the Amur River flood on the epizootic activity of tularemia in small rodent populations within natural and anthropourgic foci. Determined were the numbers of the rodent-carriers and epizootic activity of tularemia infection in the forest type, lowland, flood-swamped as well as anthropourgic foci. The capture and enumeration of the rodents was conducted using Gero rat traps. Tested were water and silt samples, rodent nests, pellets and excrements of carnivorous mammals. Blood sera of healthy persons living within the focal territory were examined to reveal the immune-competent cohort. Collected materials were analyzed using bacteriological, genetic diagnostic and serological methods. Extremely high numbers of the carriers were registered in the lowland meadow-field and anthropourgic foci adjacent to the flooded areas. The signs of tularemia epizootic process were observed in the meadow-field and flood-swamped foci. Failed to reveal during the period of high water were the epizooties in the forest foci

Маркеры активности экзогенных интерстициальных заболеваний легких

The aim of this study was to investigate values of pulmonary fibrosis markers alveomucin and KL-16 and the airway damage marker CC-16 for evaluating activity and progressing of extrinsic interstitial lung diseases (ILD) in dependence on etiology. Methods. Levels of Krebs von den Lungen-6 glycoprotein (KL-6), alveomucin and Clara cell protein (CC16) were measured using the ELISA method. The study involved 13 patients with pneumoconiosis, 26 patients with extrinsic allergic alveolitis (EAA) and 20 patients with extrinsic toxic alveolitis (ETA) both in active and stable status. Results. KL-6 and alveomucin were found to be more valuable markers for assessing activity of extrinsic fibrosing alveolitis compared to CC16. Alveomucin had higher specificity but lower sensitivity compared to KL-6. Conclusion. Alveomucin could be used as a screening test in cases with clinical susceptibility for extrinsic alveolitis. On contrary, KL-6 and alveomucin could be used for assessing therapeutic efficacy of EAA and ETA.Уровень гликопротеина Krebs von den Lungen-6 (KL-6), альвеоломуцина и белка булавчатых клеток (club cells) – СС16 при экзогенных интерстициальных заболеваниях легких был исследован методом иммуноферментного анализа. Обследованы больные пневмокониозом (n = 13), экзогенным аллергическим (n = 26) и экзогенным токсическим (n = 20) альвеолитом в период активности и ремиссии заболевания. Установлено, что KL-6 и альвеоломуцин являются более информативными маркерами для оценки активности экзогенных фиброзирующих альвеолитов по сравнению с СС16. Альвеоломуцин обладает более высокой специфичностью, но меньшей чувствительностью, чем KL-6, и может применяться для скринингового исследования при подозрении на экзогенные альвеолиты. Для оценки эффективности терапии экзогенных аллергических и токсических альвеолитов целесообразно мониторировать уровень KL-6 и альвеоломуцина сыворотки крови

Study of the UV Irradiation and Nalidicsic Acid Effect on the RecA-protein Induction in <i>Francisella tularensis</i> 15/10 Cells

Studied is the UV irradiation and nalidicsic acid effect on the RecA-protein synthesis in Francisella tularensis 15/10 cells. Obtained is the specific murine serum to the recombinant RecA-protein. The results of immunoblotting with this specific serum demonstrate that the amount of RecA-protein in Francisella tularensis 15/10 cells is not increased after the exposure to these damaging factors

Характеристика клинических, лабораторных и иммунологических проявлений у пациентов с болезнью Шёгрена, ассоциированной с антицентромерными антителами

Objective: to study clinical and laboratory features in patients with anticentromere antibody (ACA)-positive SjЪgren's disease (SD), as well as the sensitivity of different methods for determination of ACA, and to elaborate an algorithm for differential diagnosis in ACA-positive patients.Patients and methods. The V.A. Nasonova Research Institute of Rheumatology followed up 136 patients who were highly positive for ACA. The investigators used the 2001 Russian criteria for the diagnosis for SD; the 2013 ACR/European League Against Rheumatism (EULAR) criteria for that of scleroderma systematica (SDS); the guidelines of the American Association for the Study of Liver Diseases, the Russian Gastroenterological Association, and the Russian Society for the Study of the Liver for that of primary biliary cholangitis (PBC)/biliary duct epitheliitis in the presence of SD. Lymphomas were diagnosed by biopsies of affected organs according to the WHO classification. SD was diagnosed in 119 patients; SDS in 49 cases (37 with SDS concurrent with SD and 12 with isolated SDS), PBC/biliary duct epitheliitis in 23 (all cases with PBC/biliary duct epitheliitis concurrent with SD and/or SDS); 5 patients were excluded from the investigation. Further analysis included 131 ACA-positive patients. The patients were divided into three groups: SD (n=82 or 62.6%); SD+SDS (n=37 or 28.24%); SDS (n=12 or 9.16%).Results and discussion. Autoantibodies to centromere peptide (CENP) A and CENP-B in the same titers were detected in all ACA-positive patients, regardless of diagnosis. Comparative analysis of three patient groups revealed no statistically significant differences in the frequency of laboratory deviations. The signs characteristic of classical SD (rheumatoid factor (RF)), anti-Ro and anti-La antibodies, leukopenia, higher ESR values, hypergammaglobulinemia, and elevated IgG/IgA levels) were found in a small proportion of patients. The frequency and severity of glandular manifestations did not differ in SD and SD + SDS. PBC/biliary duct epitheliitis was present in 17.5% of ACA-positive patients (in most antimitochondrial antibody-positive cases); no statistically significant differences in its frequency were found between the groups. Other extraglandular manifestations in SD and SD + SDS were identified in a smaller number of patients. All sclerodermic spectrum manifestations were more common in SD and SD + SDS than in BS. Pulmonary arterial hypertension was not diagnosed in any patient from the SD group. MALT lymphomas were detected in 19 ACA-positive patients. Those were present only in BS patients and absent in the SDS group. MALT lymphomas developed in the first 10 years after the onset of SD. The transformation of MALT lymphoma into diffuse large B-cell lymphoma was observed in 2 patients. The main signs of lymphomas in SD patients were persistent parotid salivary gland enlargement, decreased levels of complement C4 and peripheral blood CD19+ cells, as well as cryoglobulinemic vasculitis, serum monoclonal secretion, lymphoid infiltration in the minor salivary glands (a focus score of &gt;4), and severe damage to the salivary and lacrimal glands.Conclusion. ACA-associated SD is an independent disease subtype characterized by an increased risk for SDS, PBC, and MALT lymphomas and by a low frequency of the systemic manifestations and laboratory signs characteristic of classical SD. Regardless of the detected type of antibodies and the presence or absence of extraglandular manifestations, damage to the salivary and lacrimal glands progresses in SD, which often leads to lymphomas; therefore, the therapy that may prevent this complication should be initiated as soon as possible after SD diagnosis. The lymphoproliferation signs identified in this investigation should be taken into account in all ACA-positive patients with SD for the early diagnosis of lymphoid tumors before therapy is prescribed. An algorithm for differential diagnosis in seropositivity for ACA is presented. Determination of autoantibodies to CENP-A and CENP-B does not allow the differential diagnosis in ACA-positive patients.Цель исследования – изучение клинических и лабораторных особенностей у пациентов с болезнью Шёгрена (БШ), позитивных по антицентромерным антителам (АЦА), а также чувствительности разных методов определения АЦА, разработка алгоритма дифференциальной диагностики у АЦА-позитивных пациентов.Пациенты и методы. В ФГБНУ «Научно-исследовательский институт ревматологии им. В.А. Насоновой» под наблюдением находилось 136 высокопозитивных по АЦА пациентов. Для диагностики БШ использовались отечественные критерии 2001 г., системной склеродермии (ССД) – критерии ACR/EULAR 2013 г., первичного билиарного холангита (ПБХ)/эпителиита билиарных протоков в рамках БШ – рекомендации Американской ассоциации по изучению заболеваний печени, Российской гастроэнтерологической ассоциации и Российского общества по изучению печени. Диагностика лимфом осуществлялась на основании исследований биоптатов пораженных органов согласно классификации ВОЗ. БШ диагностирована у 119 пациентов, ССД – у 49 (у 37 в сочетании с БШ и у 12 – изолированная ССД), ПБХ/эпителиит билиарных протоков – у 23 (во всех случаях в сочетании с БШ и/или ССД), 5 пациентов были исключены из исследования. В дальнейший анализ вошел 131 АЦА-позитивный пациент. Больные были разделены на три группы: БШ (n=82, или 62,6%); БШ + ССД (n=37, или 28,24%); ССД (n=12, или 9,16%).Результаты и обсуждение. Аутоантитела к центромерному пептиду (CENP) A и CENP-B в одинаковых титрах выявлены у всех АЦА-позитивных пациентов независимо от диагноза. При сравнительном анализе трех групп пациентов статистически значимых различий в частоте лабораторных отклонений не выявлено. Характерные для классической БШ признаки – ревматоидный фактор (РФ), антитела к Ro и La, лейкопения, повышение СОЭ, гипергаммаглобулинемия, увеличение уровня IgG/IgA – обнаружены у незначительной части пациентов. Частота и выраженность железистых проявлений при БШ и БШ + ССД не различались. ПБХ/эпителиит билиарных протоков имелся у 17,5% АЦА-позитивных пациентов (в большинстве случаев позитивных по антимитохондриальным антителам), статистически значимых различий в его частоте между группами не обнаружено. Другие внежелезистые проявления при БШ и БШ + ССД выявлены у меньшего числа пациентов. Все проявления склеродермического спектра при ССД и БШ + ССД встречались чаще, чем при БШ. Легочная артериальная гипертензия не диагностирована ни у одного пациента из группы БШ. MALT-лимфомы обнаружены у 19 АЦА-позитивных пациентов. Они встречались только у пациентов с БШ, в группе ССД лимфом не было. MALT-лимфомы развивались в первые 10 лет после начала БШ. Трансформация MALT-лимфомы в диффузную В-клеточную крупноклеточную лимфому наблюдалась у 2 пациентов. Основными признаками лимфом у пациентов с БШ были: стойкое увеличение околоушных слюнных желез, снижение уровня С4-компонента комплемента, а также CD19+ клеток в периферической крови, криоглобулинемический васкулит, моноклональная секреция в сыворотке крови, лимфоидная инфильтрация малых слюнных желез &gt;4 фокуса, а также тяжелое поражение слюнных и слезных желез.Заключение. БШ, ассоциированная с АЦА, является самостоятельным субтипом заболевания, отличающимся повышенным риском возникновения ССД, ПБХ и MALT-лимфом, низкой частотой характерных для классической БШ системных проявлений и лабораторных признаков. При БШ, независимо от выявляемого типа антител и наличия или отсутствия внежелезистых проявлений, прогрессирует поражение слюнных и слезных желез, что нередко приводит к развитию лимфом, поэтому терапия, способная предотвратить возникновение данного осложнения, должна быть инициирована сразу после установления диагноза БШ. Выявленные в настоящем исследовании признаки лимфопролиферации должны учитываться у всех АЦА-позитивных пациентов с БШ для ранней диагностики лимфоидных опухолей до назначения терапии. Приведен алгоритм дифференциальной диагностики при серопозитивности по АЦА. Определение аутоантител к CENP-A и CENP-B не позволяет осуществлять дифференциальную диагностику у АЦА-позитивных пациентов

Hadron Energy Reconstruction for the ATLAS Calorimetry in the Framework of the Non-parametrical Method

This paper discusses hadron energy reconstruction for the ATLAS barrel prototype combined calorimeter (consisting of a lead-liquid argon electromagnetic part and an iron-scintillator hadronic part) in the framework of the non-parametrical method. The non-parametrical method utilizes only the known $e/h$ ratios and the electron calibration constants and does not require the determination of any parameters by a minimization technique. Thus, this technique lends itself to an easy use in a first level trigger. The reconstructed mean values of the hadron energies are within $\pm 1$ of the true values and the fractional energy resolution is $[(58\pm3)/\sqrt{E}+(2.5\pm0.3)$. The value of the $e/h$ ratio obtained for the electromagnetic compartment of the combined calorimeter is $1.74\pm0.04$ and agrees with the prediction that $e/h > 1.7$ for this electromagnetic calorimeter. Results of a study of the longitudinal hadronic shower development are also presented. The data have been taken in the H8 beam line of the CERN SPS using pions of energies from 10 to 300 GeV.Comment: 33 pages, 13 figures, Will be published in NIM