Protected group control system for mobile robots

The purpose of this work is to present a secure group control system for ground mobile robots. The paper includes the analysis of existing group control algorithms, a description of the implementation of some of the algorithms, their testing and analysis of characteristics. When we solve the problem, we adhere to the following aspects: The multivariance of simulated situations, the feasibility of algorithms within the framework of existing computer systems and their applicability within the framework of real group control systems, the use of cryptographic information security tools using distributed methods, the development of a model for group control of robots and testing of developed solutions should be carried out using a simulator, approbation of the developed solutions is carried out using a full-scale model, which includes a set of single-board computers, between which a wireless network is organized, robots perform the main task of analyzing the terrain and building a terrain map, while the terrain map should be distributed between robots and updated periodically, robots must be able to avoid obstacles and collisions with each other, perform the task of moving towards the goal and the task of following the group leader. Security solutions must ensure the property of integrity, proof of authorship, and trust in the data. Implementing the choice of the group leader must also provide the ability to select a trusted entity as the group leader

Formation of ICT competencies of postgraduate students of teacher education based on interactive techniques

The given paper presents research for the formation of ICT competencies of postgraduate students of teacher education through interactive teaching technique

Peculiarities of thinking and educational professional motivation of students medical college

The theoretical review of concepts styles of thinking and an empirical research about interrelation of motivation and cognitive and style features is presented in article. Results of an empirical research of students of medical college are presentedВ статье представлен теоретический обзор понятия «стили мышления» и представлено эмпирическое исследование взаимосвязи мотивации и когнитивно-стилевых особенностей, а также результаты эмпирического исследования студентов медицинского колледж

Late summer changes in burning conditions in the boreal regions and their implications for NO x and CO emissions from boreal fires

Copyright © 2008 American Geophysical Union. All Rights Reserved.Building emission inventories for the fires in boreal regions remains a challenging task with significant uncertainties in the methods used. In this work, we assess the impact of seasonal trends in fuel consumption and flaming/smoldering ratios on emissions of species dominated by flaming combustion (e.g., NO x ) and species dominated by smoldering combustion (e.g., CO). This is accomplished using measurements of CO and NO y at the free tropospheric Pico Mountain observatory in the central North Atlantic during the active boreal fire seasons of 2004 and 2005. ΔNO y /ΔCO enhancement ratios in aged fire plumes had higher values in June-July (7.3 × 10−3 mol mol−1) relative to the values in August-September (2.8 × 10−3 mol mol−1), indicating that NO x /CO emission ratios declined significantly as the fire season progressed. This is consistent with our understanding that an increased amount of fuel is consumed via smoldering combustion during late summer, as deeper burning of the drying organic soil layer occurs. A major growth in fuel consumption per unit area is also expected, due to deeper burning. Emissions of CO and NO x from North American boreal fires were estimated using the Boreal Wildland Fire Emissions Model, and their long-range transport to the sampling site was modeled using FLEXPART. These simulations were generally consistent with the observations, but the modeled seasonal decline in the ΔNO y /ΔCO enhancement ratio was less than observed. Comparisons using alternative fire emission injection height scenarios suggest that plumes with the highest CO levels at the observatory were lofted well above the boundary layer, likely as a result of intense crown fires

Определение хлорсодержащих соединений в дезинфицирующих средствах с использованием ионообменной хроматографии

Objectives. To develop a method for the determination of hypochlorite, chloride, chlorite, chlorate, and perchlorate ions in solution; to determine the limits of detection and quantitation for ClO−, Cl−, ClO2−, ClO3−, and ClO4− ions; to evaluate the applicability of the developed method and its suitability for disinfectant analysis.Methods. Ionic chromatography using a conductometric detection system in isocratic elution mode.Results. The method developed for chromatographic determination of chlorine-containing ions can be used to quantify the content of hypochlorite, chloride, chlorite, chlorate, and perchlorate ions. In isocratic elution mode at 7.5 mM NaOH and a flow rate of 0.4 mL/min, the content of chlorine-containing ions can be determined with high sensitivity. The presented method does not require the use of expensive equipment for the ultrasensitive analysis of the studied compounds.Conclusions. A novel method for the simultaneous determination of hypochlorite, chloride, chlorite, chlorate, and perchlorate ions in case of their combined presence is proposed. The technique can be used to carry out routine control of the content of these disinfectant components during use, increasing their effectiveness at the same time as managing associated toxicological risks.Цели. Разработать методику определения гипохлорит-, хлорид-, хлорит-, хлорати перхлорат-ионов при их совместном присутствии в дезинфицирующих средствах. Определить пределы обнаружения и пределы количественного определения ионов ClO−, Cl−, ClO2−, ClO3−, ClO4−. Провести расчеты валидационных параметров разработанной методики, а также оценить ее пригодность для анализа дезинфицирующих средств.Методы. Ионообменная хроматография с системой кондуктометрического детектирования в изократическом режиме элюирования.Результаты. Новая методика хроматографического определения хлорсодержащих ионов позволяет количественно оценить содержание гипохлорит-, хлорид-, хлорит-, хлорат- и перхлорат-ионов при их одновременном нахождении в модельном растворе и в дезинфицирующих средствах. Изократический режим элюирования 7.5 мМ NaOH при скорости движения потока 0.4 мл/мин позволяет с высокой чувствительностью определять ионы, содержащие атом хлора. Разработанная методика не требует использования дорогостоящего оборудования, необходимого для сверхчувствительного анализа исследуемых соединений.Выводы. Впервые предложена методика определения гипохлорит-, хлорид-, хлорит-, хлорат- и перхлорат-ионов при совместном присутствии. Ожидается, что разработанная методика позволит проводить рутинный контроль содержания этих компонентов в дезинфицирующих средствах при их практическом использовании, что приведет к повышению эффективности применения дезинфектантов на их основе и снижению возможных токсикологических рисков

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

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 UA9 experimental layout

The UA9 experimental equipment was installed in the CERN-SPS in March '09 with the aim of investigating crystal assisted collimation in coasting mode. Its basic layout comprises silicon bent crystals acting as primary collimators mounted inside two vacuum vessels. A movable 60 cm long block of tungsten located downstream at about 90 degrees phase advance intercepts the deflected beam. Scintillators, Gas Electron Multiplier chambers and other beam loss monitors measure nuclear loss rates induced by the interaction of the beam halo in the crystal. Roman pots are installed in the path of the deflected particles and are equipped with a Medipix detector to reconstruct the transverse distribution of the impinging beam. Finally UA9 takes advantage of an LHC-collimator prototype installed close to the Roman pot to help in setting the beam conditions and to analyze the efficiency to deflect the beam. This paper describes in details the hardware installed to study the crystal collimation during 2010.Comment: 15pages, 11 figure, submitted to JINS

Peroxidase Activity of Cerium Oxide Nanoparticles in the Maltodextrin Shell

The enzymatic activity of cerium oxide nanoparticles depending on pH was studied. These nanoparticles have broad application in medicine and bioengineering, because of their unique physical and chemical properties