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

Принцип компактности и теорема Витали для h-голоморфных функций

In this paper, we consider the properties of uniformly convergent sequences of h-holomorphic functions on the set of h-complex numbers. Theorems on the global antiderivative and on the uniform approximation of h-holomorphic functions by polynomials are formulated and proven. The sufficient conditions for the h-holomorphism of the limit function are obtained. The compactness principle for functions of an h-complex variable and an analog of Vitaliʼs theorem for h-analytic functions are formulated and proven.Рассмотрены свойства равномерно сходящихся последовательностей h-голоморфных функций на множестве h-комплексных чисел. Сформулированы и доказаны теоремы о глобальной первообразной и равномерном приближении h-голоморфных функций многочленами. Получены достаточные условия h-голоморфности предельной функции. Сформулированы и доказаны принцип компактности для функций h-комплексного переменного и аналог теоремы Витали для h-аналитических функций

One or many project offices in educational organization of tertiary education: advantages and disadvantages

The article is devoted to the creating and management expediency of several project offices in an educational organization of tertiary education (hereinafter – OTE). The topic relevance is due to the growing number and types of ongoing projects that require proper organization and management and, consequently, governance of project management offices. The article presents the features of educational projects and the role of the project management office in the OTE system. The main types of project management offices at universities and their functions and tasks are described. Common elements of successful project management offices from around the world are highlighted based on a global study conducted by the Project Management Institute (PMI) together with PricewaterhouseCoopers (PwC) in 2021. The advantages and disadvantages of creating a single system of several project offices of different orientation and a single project management office at the university are discussed. Based on the information from the scientific literature and the conducted research, the authors conclude that in order to use all the advantages of the project office in full, it is necessary to create one project office in OTE. However, the authors also claim the need for further research to assess the feasibility of the practical implementation of their proposed solution

Використання вимог сучасної стандартизації на харчових підприємствах

The paper investigates the implementation of the HACCP system (Hazard Analysis and Critical Control Points) in the restaurant business. Restaurant facilities produce not only culinary products, but also a variety of bakery, flour confectionery and confectionery products, which leads to an increase in the used raw materials and, accordingly, an increase in a variety of technological processes for processing these raw materials. Restaurant business establishments include restaurants, pastry shops, cafes, bars, snack bars, canteens, buffets, kiosks and other fast food and drink establishments. Until September 20, 2019, all Ukrainian food industry enterprises providing food services, as well as food suppliers and carriers, were required to implement the HACCP food safety management system. The implementation of the HACCP system in restaurant business establishments is a difficult process that concerns all services and all personnel, because it is necessary not only to create an appropriate service, develop documentation and an algorithm for performing all procedures, review technological processes, equipment, raw material suppliers, but also train personnel comply with the new operating rules. The paper analyzes the factors of potential pollution: physical, chemical and biological and their influence on the quality of the final product. Each of these three factors are monitored at all stages of production, that is, manufacturers comply with fundamentally new rules in food production. For each stage, its own critical control point is defined and recommended, at which the products are tested to ensure product quality. The paper presents a list of basic and operational documentation of the HACCP system, which must be used in restaurants. All enterprises whose activities are related to food products are trying to implement the HACCP system, not only because it will allow domestic producers to comply with the requirements of domestic legislation, but also because it will give consumers confidence that the products they real high qualityand absolutely safe for health.У роботі досліджується впровадження системи НАССР (Hazard Analysis and Critical Control Points) у закладах ресторанного бізнесу. В закладах ресторанного господарства виробляють не тільки кулінарну продукцію, а й різноманітні хлібобулочні, борошняні кондитерські та кондитерські вироби, що веде до збільшення сировини, яка використовується та відповідно до збільшення різноманітних технологічних процесів з переробки цієї сировини. До закладів ресторанного бізнесу можна зарахувати ресторани, кондитерські, кафе, бари, закусочні, їдальні, буфети, кіоски та інші заклади швидкого приготування їжі та напоїв. До 20 вересня 2019 року всі українські підприємства харчової галузі, які надають послуги з харчування, а також постачальники та перевізники харчових продуктів мали впровадити систему управління безпечністю харчування НАССР. Впровадження системи НАССР у закладах ресторанного бізнесу – важкий процес, який стосується всіх служб і всього персоналу, тому що необхідно не тільки створити відповідну службу, розробити документацію та алгоритм виконання всіх процедур, провести перегляд технологічних процесів, устаткування, постачальників сировини, а й навчити персонал дотримуватися нових правил роботи. проведено аналіз факторів потенційного забруднення: фізичного, хімічного і біологічного та їхнього впливу на якість кінцевого продукту харчування. Кожен з цих трьох факторів відстежується на всіх етапах виробництва, тобто виробники дотримуються принципово нових правил у виробництві продуктів харчування. Для кожного етапу визначена та рекомендована своя критична точка контролю, на якій продукція проходить контроль для забезпечення відповідної якості продукції. В роботі представлений перелік базової та оперативної документації системи НАССР, яку потрібно використовувати у закладах ресторанного господарства. Всі підприємства, діяльність яких пов’язана із продуктами харчування, намагаються впровадити систему HACCP не тільки тому, що це дозволить вітчизняним виробникам виконати вимоги вітчизняного законодавства а й тому, що це додасть впевненості споживачам, що продукція, яку вони купують, дійсно високої якості і абсолютно безпечна для здоров’я

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

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

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

Existence and large time behavior for generalized Kelvin-Voigt equations governing nonhomogeneous and incompressible fluids

Generalized Kelvin-Voigt equations governing nonhomogeneous and incompressible fluids are considered in this work. We assume that, in the momentum equation, the diffusion and relaxation terms are described by two distinct power-laws. Moreover, we assume that the momentum equation is perturbed by an extra term, which, depending on whether its signal is positive or negative, may account for the presence of a source or a sink within the system. For the associated initial-boundary value problem, we study the existence of weak solutions as well as the large time behavior of the solutions.Portuguese Foundation for Science and Technology: UID/MAT/04561/2019info:eu-repo/semantics/publishedVersio

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