Синтез системы управления полетом с нечеткими регуляторами на основе линейных матричных неравенств

Розглядається задача синтезу статичного регулятора за виходом у ланцюзі зворотного зв’язку для системи управління польотом малого безпілотного апарата, яка складається із двох контурів: внутрішнього “чіткого” та зовнішнього нечіткого. Задача синтезу статичного зворотного зв’язку за виходом розглядається в термінах лінійних матричних нерівностей (ЛМН). Особливість цієї статті полягає в тому, що ЛМН, які використовуються для синтезу “чіткого” зворотного зв’язку, використовуються у процедурі синтезу статичного зворотного зв’язку за виходом зовнішнього контуру управління для нечіткої моделі Такагі – Сугено (Т-С). Ефективність запропонованого методу ілюструється на прикладі синтезу системи управління бічним рухом безпілотного літального апарату (БПЛА).This paper presents the problem of static output feedback controller design for small UAV with combined structure of Flight Control System (FCS). The architecture of FCS includes the inner “crisp” and outer fuzzy loops. The proposed design method is based on Linear Matrix Inequality approach (LMI). The main feature of this paper constitutes that the LMI approach used for inner loop controller design is extended to the outer loop static output feedback (SOF) construction for Takagi-Sugeno (T-S) Fuzzy System. The efficiency of the proposed design method is demonstrated by an example of lateral channel of the Unmanned Aerial Vehicle flight control system.В статье рассматривается задача синтеза статического регулятора по выходу в цепи обратной связи для системы управления полетом малого беспилотного аппарата, состоящей из двух контуров: внутреннего “четкого” и внешнего нечеткого. Задача синтеза статической обратной связи по выходу рассматривается в терминах линейных матричных неравенствах (ЛМН). Особенность данной статьи является то, что ЛМН, используемые для синтеза четкой обратной связи, распространяются на синтез статической обратной связи по выходу внешнего контура управления для нечеткой модели Такаги – Сугено. Эффективность предложенного метода иллюстрируется на примере синтеза системы управления полетом боковым движением беспилотного летательного аппарата (БПЛА)

HYPOPARATHYROIDISM: MODERN CONCEPTS AND ANALYSIS OF A CLINICAL CASE

The article deals with modern concepts of etiopathogenesis, clinic, diagnosis and treatment of hypoparathyroidism. Pathophysiological mechanisms of clinical symptoms are described. The paper contains the analyzis of autoimmune hypoparathyroidism clinical case

Direct laser writing of μ-chips based on hybrid C–Au–Ag nanoparticles for express analysis of hazardous and biological substances

Micro-chips based on organic–inorganic hybrid nanoparticles (NPs) composed of nanoalloys of gold (Au) and silver (Ag) embedded in an amorphous carbonaceous matrix (C–Au–Ag NPs) were prepared directly on a substrate by the laser- induced deposition (for short: LID) method. The C–Au–Ag NPs show a unique plasmon resonance which enhances Raman scattering of analytes, making the μ-chips suitable to detect ultra-low-volumes (10−12 liter) and concentrations (10−9 M) of bio-agents and a hazardous compound. These micro-chips constitute a novel, flexible solid-state device that can be used for applications in point-of-care diagnostics, consumer electronics, homeland security and environmental monitoring

Primer registro de acumulaciones en masa de gastrópodos nerineidos en la Formación Agrio, Cretácico Inferior de Cuenca Neuquina, Argentina

El primer hallazgo de acumulaciones en masa de gastrópodos en la Formación Agrio proviene de la localidad de Lomas Bayas, Mendoza, Argentina. Las capas portadoras se ubican hacia el tope del Miembro Agua de la Mula. Su edad ha sido determinada como Hauteriviano Tardío cuspidal en base a la correlación con capas pertenecientes a la zona de amonoideos de Paraspiticeras groeberi. La asociación está compuesta por gastrópodos de la Familia Nerineidae. Las acumulaciones en masa se registraron en dos niveles estratigráficos distintos con una abundancia promedio de 300 conchillas por m2. Los ejemplares estudiados han sido determinados como Cossmannea (Eunerinea) sp. en base a los siguientes caracteres: conchilla cónica muy elongada, levemente cirtocónica, vueltas de caras planas a ligeramente cóncavas, región sutural suavemente convexa, corto canal anterior, abertura sub-cuadangular y tres pliegues internos (columelar, parietal y labial). Los especímenes se preservan como secciones axiales con conchilla recristalizada inmersas en la roca portadora y como moldes internos sueltos y fragmentarios. La gran mayoría se dispone en paralelo al plano de estratificación, con la abertura y/o ápice dañados, relleno concordante con la matriz y estructura geopetal. Estos rasgos tafonómicos sugieren un bajo grado de retrabajo y transporte lateral. Las rocas portadoras son grainstones oolíticos con rasgos de diagénesis marina somera. La presencia de fragmentos de corales coloniales y equinoideos asociados sugiere sustratos estables en probable cercanía con arrecifes en parche. Los nerineoideos son típicos de facies carbonáticas arrecifales y son considerados indicativos de condiciones tropicales a subtropicales. Si bien son frecuentes en depósitos mesozoicos, el hallazgo de acumulaciones en masa es en cambio excepcional y resulta de importancia paleoambiental y paleoecológica, dado que estaría relacionado al desarrollo de una estrategia de tipo oportunista bajo condiciones ambientales óptimas.Sesiones libresFacultad de Ciencias Naturales y Muse

Automatic correction of hand pointing in stereoscopic depth

In order to examine whether stereoscopic depth information could drive fast automatic correction of hand pointing, an experiment was designed in a 3D visual environment in which participants were asked to point to a target at different stereoscopic depths as quickly and accurately as possible within a limited time window (≤300 ms). The experiment consisted of two tasks: "depthGO" in which participants were asked to point to the new target position if the target jumped, and "depthSTOP" in which participants were instructed to abort their ongoing movements after the target jumped. The depth jump was designed to occur in 20% of the trials in both tasks. Results showed that fast automatic correction of hand movements could be driven by stereoscopic depth to occur in as early as 190 ms.This work was supported by the Grants from the National Natural Science Foundation of China (60970062 and 61173116) and the Doctoral Fund of Ministry of Education of China (20110072110014)

Spectrum of conditionally pathogenic microflora isolated from the prostate secret in chronic bacterial prostatitis patients

The article represents a description for microbiocenosis of isolated prostate secret. The initial samples were taken on the territory of the Irkutsk region from men diagnosed with chronic bacterial prostatitis in the acute stage. 90 % of samples of isolated prostate secret were tested by cultural method revealed 4l representatives of opportunistic pathogenic microflora. Gram-positive microorganisms were found in most samples (86.7 %). Staphylococcus genus representatives formed the majority in isolated samples of conditionally pathogenic microflora (66.7 %). As for gram-negative representatives (which role in chronic bacterial prostatitis is proven by multiple research), E. coli and K. pneumoniae were isolated. In the half of samples, we revealed bacterial associations consisting mostly of two kinds of microorganisms. Staphylococcus epidermidis was isolated in 70 % of such associations

Cretaceous intraplate contraction in Southern Patagonia: A far-field response to changing subduction dynamics?

The origin, extent, and timing of intraplate contraction in Patagonia are among the least understood geological processes of southern South America. Particularly, the intraplate Deseado fold-thrust belt (FTB), located in the Patagonian broken foreland (47°–48°300 S), is one of the most enigmatic areas. In this belt, time constraints on tectonic events are limited and synorogenic deposits have not been documented so far. Furthermore, the driving mechanism for intraplate contraction remains unknown. In this study, we carried out a structural and sedimentological analysis. We report the first syntectonic deposits in this area in the Baqueró (Aptian) and Chubut (Cenomanian/Campanian) groups and a newly found unit referred to as the Albian beds (109.9 ± 1.5 Ma). Thus, several contractional stages in late Aptian, Albian, and Cenomanian-Campanian are then inferred. We suggest that the Deseado FTB constituted the southernmost expression of the early Patagonian broken foreland in Cretaceous times. Additionally, we analyzed the spatiotemporal magmatic arc behavior as a proxy of dynamic changes in the Andean subduction during determined stages of intraplate contraction. We observe a significant arc broadening from ~121 to 82 Myr and magmatic quiescence after ~67 Ma. This is interpreted as a slab shallowing to flattening process. Far-field tectonic forces would have been produced by increased plate coupling linked to the slab flattening as indirectly indicated by the correlation between Cretaceous arc expansion and intraplate contraction. Finally, the tectonic evolution of the Deseado FTB favors studies supporting inception of Andean shortening since Cretaceous times.Fil: Gianni, Guido Martin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Instituto Geofísico Sismológico Volponi; ArgentinaFil: Navarrete Granzotto, César Rodrigo. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de la Patagonia "San Juan Bosco"; ArgentinaFil: Liendo, Ingrid Florencia. Universidad Nacional de la Patagonia "San Juan Bosco"; ArgentinaFil: Díaz, Marianela Ximena Yasmin. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Departamento de Geología; ArgentinaFil: Gimenez, Mario Ernesto. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - San Juan; Argentina. Universidad Nacional de San Juan. Facultad de Ciencias Exactas, Físicas y Naturales. Instituto Geofísico Sismológico Volponi; ArgentinaFil: Encinas, Alfonso. Universidad de Concepción; ChileFil: Folguera Telichevsky, Andres. Consejo Nacional de Investigaciones Científicas y Técnicas. Oficina de Coordinación Administrativa Ciudad Universitaria. Instituto de Estudios Andinos "Don Pablo Groeber". Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Instituto de Estudios Andinos "Don Pablo Groeber"; Argentina. Universidad de Buenos Aires. Facultad de Ciencias Exactas y Naturales. Departamento de Ciencias Geológicas; Argentin

Characteristics of Nasopharyngeal Microbiocenosis and Evaluation of the Interaction of its Associates in Women with Chronic Endometritis

The upper respiratory tract is one of the most important biotopes in the human body. Therefore, in order to understand the cause-effect relationships between the microbial world and the pathological state of a person, it is crucial to clarify the relationship of the microbes-associates.The study involved 74 women with reproductive disorders. The main group – women with chronic endometritis (n = 47). The diagnosis of chronic endometritis was revealed on the basis of morphological signs of histological examination of aspirates from the uterine cavity. The comparison group consisted of 27 women, in whom the chronic endometritis was not confirmed. When applying, women complained more often of infertility and (or) miscarriage. Of the accompanying extragenital diseases, chronic tonsillitis in women of the studied groups was most often diagnosed. Therefore, it was important to give a microbiological description of the nasopharyngeal biotope of these women, as one of the factors that influences the reserves of confrontation of the reproductive function of the body to infections. Nasopharyngeal microbiocenosis of women with chronic endometritis was characterized by deficiency of the indigenous microbiota and a permanent presence in the microbiocenosis of the absolute pathogen (S. aureus) and transient species (enterococci, CNS). Between the representatives of normoflora antagonistic relations were established. The obtained results indicate violations in the nasopharyngeal biotope of these women, which can cause immunodeficiency and, as a consequence, the development and flow of chronic endometritis

Response sensitivity to bacteriophages of Staphylococcus aureus strains isolated from the microbiota of the oropharynx in children of Irkutsk

Dysbiotic disorders of the oropharynx takes one of the first places in the structure of morbidity worldwide. The aim of the study was to determine the peculiarities of microbiocenosis of the oropharynx in children at different ages and to assess the level of sensitivity of S. aureus strains to specific bacteriophages. Material for the study consisted of 84 smears from the oropharynx of children with inflammatory diseases of the upper respiratory tract (nasopharyngitis, pharyngitis, tonsillitis, laryngitis (J00, J02, J03, J04 according to 1CD-10). The biological material was distributed depending on the age of the surveyed: the first group - children 3-6 years (n = 61) and the second age group - children 7-12 years (n = 23). Studies of the microflora of the oropharynx were performed according to standard methods. Isolated microorganisms were identified by morphological, tinctorial, cultural and biochemical properties. The results were evaluated in accordance with the Order of USSR Ministry of Health N 535 as of April 22,1985. Specific lytic activity of bacteriophages against S. aureus was determined using preparations of staphylococcal bacteriophage and polyvalent pyobacteriophage Sexta. The sensitivity of strains of S. aureus to specific bacteriophages was assessed by the method of «crosses», according to the guidelines. Statistical analysis was performed with the use of licensed applications Offiœ Ms Excel 2007for Windows 7 BioStat v. 5.0.1.2008. Correlation analysis (Pearson method) was used. 1t has been shown that with increasing age children in the oropharynx microbial density is increasing for indicators of both normoflora (S. oralis), and of opportunistic microflora (S. β-hemolytic, S. pyogenes, S. pneumoniae, bacteria Enterobacteriaceae), especially of S. aureus (up to 74 %). Registration of sensitive strains of S. aureus in more than 70 % of cases in preschool and school-aged children is evidence of the correctness of correction of the dysbiotic disorders of the oropharynx with the use of bacteriophages of staphylococcus and Sexta

THE PREVALENCE OF TICK-BORNE ENCEPHALITIS VIRUS ANTIGEN IN SERUM SAMPLES FROM PEOPLE SUFFERED FROM TICK BITES

The information about more than 17 thousand cases of public inquiries to the Center of Diagnostics and prevention of tick-borne infections of Scientific Center of Problems Family and Human Reproduction Problems because of bites of ticks at the territory of Irkutsk Region during the last six years (2007-2012) is analyzed in the article. All age groups undergo to the bites of ticks. Over the half of the people asking for help have the policy of voluntary health insurance of "Anti tick" kind. The percentage of people vaccinated against the tick borne encephalitis is a little bit over than 8 % what proves the low level of the sanitary education and neglect to the human health in the region. Every year the cases of tick's bites and findings of tick-borne encephalitis virus antigen in blood serum of bitten people in the northern areas of Irkutsk region are revealed. Every year in average 90 examples of blood serum had tick-borne encephalitis virus antigen that means 3 % of bitten people have pre-clinical infection of tick-borne encephalitis. Patients with positive result of tick-borne encephalitis virus antigen (543 patients) had the necessary consultation and preventive treatment with specific immunoglobulin according to the instruction of application. Diseases of tick-borne encephalitis among the patients had the preventive treatment in time were not marked