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Soft robotics is a specialized field of robotics that focuses on the design, manufacture, and control of robots made of soft materials, as opposed to those made of rigid links. One of the primary challenges for the future use of continuous or hyper-redundant robotics systems in industrial and medical technology is the development of suitable modeling and control approaches. Due to the complex non-linear behavior of soft materials and the unpredictable motion of actuators, the task of modeling complex soft actuators is very time-consuming. As a result, earlier studies have undertaken research into model-free methods for controlling soft actuators. In recent years, machine learning (ML) methods have become widely popular in research. The adaptability of an ML model to a non-linear soft drive system alongside the varying actuation behavior of soft drives over time as a result of material characteristics and performance requirements is the key rationale for including an ML model. The system requires the online updating of the ML model in order to work with the non-linear system. Sequential data collected from the test bench and converted into a hypothesis are used to perform incremental learning. These methods are called lifelong learning and progressive learning. Real-time data flow training is combined with incremental learning (IL), and a neural network model is tuned sequentially for each data input. In this article, a method for the intelligent control of soft pneumatic actuators based on an incremental learning algorithm is proposed. A soft pneumatic actuator was subjected to three distinct test conditions in a controlled test environment for a specified duration of data gathering. Additionally, data were collected through finite element method simulations. The collected data were used to incrementally train a neural network, and the resulting model was analyzed for errors with both training and test data. The training and testing errors were compared for different incremental learning (IL) algorithms, including K-nearest neighbors, a decision tree, linear regression, and a neural network. The feasibility of the modulo-free intelligent control of soft pneumatic actuators based on an incremental learning algorithm was verified, solving the problem of the control of software actuators.

The article on the results of sociological studies conducted in Saratov and Russia reveals the socio-demographic factors of the reproductive attitudes of young people. The analysis of the data revealed that with age the acceptable and appropriate period of birth of the first child increases, the level of childbearing in the reproductive practices of young people increases, and the responsible attitude towards the appearance of children increases. However, the majority of young people (57.3%) do not consider children as a guarantee of personal, family happiness. At the same time, decisions about contraception, pregnancy, child birth and the intervals between births are more often assigned to girls. Official registration of marriage is not a prerequisite for the birth of children, which contributes to an increase in the rate of extramarital fertility. However, the stability of the marital status contributes to the implementation of the traditional motivation for the appearance of children at the mutual desire of the spouses. The more children had parents, the more desirable and expected children in young people, but within the maximum range of 2–3 children. Parents’ large children are not transferred to children in the same amount. Young people transpose them within the framework of mostly childlessness. At the same time, she often counts on the help of the older generation in the care and upbringing of children.

Authoritarian leaders rely on regional leaders for both political support and the fulfillment of their policy objectives. In addition, top leaders face trade-offs between following established rule...

Environmental safety and the rational use of natural resources are among pressing present-day problems. Energy efficiency improvement is an important constituent of energy policies in many countries. This article examines the impact of the “rebound effect” on improving the energy efficiency of environmental safety programs implement-d at federal and municipal levels. There is still no consensus on how to take the “rebound effect” into account and whether it should be considered at all. Paradoxically, the “rebound effect” is the unintended side effect of energy efficiency activities. In this paper, different types of this effect are considered. The “direct assessment” method, based on the non-linear relationship between energy consumption and efficiency, is used to assess the “rebound effect” produced on individual household appliances. The factors hindering the implementation of energy efficiency activities are also identified. Having analyzed the impact of the effect on different sectors of economy, we can conclude that the most pronounced “rebound effect” is observed in the housing sector. Consequently, if we consider a major energy efficient renovation, we have to take account of the “rebound effect” caused by new energy saving activities.

The paper proposes a new approach to measuring key parameters of choice as intentional activity. We developed and validated a 23-item questionnaire called the Subjective Quality of Choice (SQC) which measures four qualitative dimensions of choice: elaboration, emotional valence, autonomy, and satisfaction with the outcome. Three validation studies are presented. In the first study respondents from a large online sample evaluated the quality of important choices they made in life. Using structural equation modeling, we confirmed the structure of the SQC and investigated the associations of its scales with other measures. In the second study using a longitudinal design we replicated the structure of the SQC in a university choice context and investigated the criterion validity of its scales against well-being and academic outcome variables. In the third study we investigated the predictive validity of the SQC in a university applicant sample against an objective real-life outcome. The findings support the validity of the choice quality model.

The relevance of the study is to create conditions and ensure the functioning of hotel and restaurant businesses in the conditions imposed by the state, quarantine restrictive measures in connection with the pandemic of viral diseases. The purpose of research. Scientific substantiation, features and practical recommendations for the introduction of robotic and automated systems that will allow hospitality enterprises to operate in the conditions imposed by the state quarantine restrictive measures. Methods. The methodological basis of the study is a comprehensive approach between problem statement and analysis of research results using new modern approaches. The scientific novelty lies in the regularity of processes and scientific substantiation of the latest technologies and methods of effective use in the hotel and restaurant business in the context of viral diseases. Conclusions. The introduction of innovative development of enterprises in the hotel and restaurant business,namely the use of robotics and automation during a pandemic, is analyzed and proposed.

The paper presents the basic methods for developing an expert system to assess the efficiency of power supply networks. The existing expert systems and possibility of their use to assess the efficiency of power supply systems have been analyzed. Mathematical models for network expertise, in particular, methods of the theory of choice and decision making were described. Decision-making algorithm for power grid based on differential evolution method is considered. The algorithm to calculate the reduced costs in designing power supply networks, allowing to develop the optimal expert system for control and assessment of power supply network efficiency, has been obtained.

This work is aimed at proecting an automated control system for an overhead crane based on a neural network, which will replace the operator, but it is possible to transfer this control back to the operator. The paper considers an approach to the development of the necessary software for the correct operation of the crane, the choice of equipment suitable for the task. The final part describes the program blocks necessary for operation, as well as locks.

The paper presents the design of a wireless communication system for short-range, high-speed, and multi-node information acquisition based on BLE5.0 technology, targeting indoor wearable applications. The system employs the Nordic nRF52832 microcontroller, which integrates BLE5.0 transceivers, as the core, and includes designs for master-slave node communication, data acquisition, hardware circuitry, embedded and upper computer programs. The system is validated through upper computer software for device networking, multi-node data acquisition, and communication speed. The power consumption and communication distance of the devices are tested using a measurement device. The designed multi-node BLE5.0 communication system in this paper provides a technical foundation for the design of relevant short-range IoT applications and has broad application prospects.

In this paper, a hybrid polymer fuel cell system with a lead-acid battery has been explored, so that the battery is designed to support the fuel cell system in providing the power needed for the load as well as storing additional energy. The battery is used to maintain the efficiency of the SOC battery. From a constant power strategy for a fuel cell and managing the fuel at the optimum operating point, to reducing the voltage load on the battery and reducing the instantaneous current load on the fuel cell in use. The general configuration of the hybrid system includes a polymer fuel cell followed by a boost converter, as well as a lead-acid battery pack, after which a bidirectional converter to control the power of the battery in charge and discharge mode. It's in the system. According to the simulation, it has been observed that the power contribution between the fuel cell and the battery is well suited to load changes, and the fuel cell always produces a constant power to charge the battery and power the load. It is protected from any kind of load fluctuation and interference.

The article examines the process of transformation of ideas about gen- der identity on the material of Russian culture 16th and the beginning of the 18th century. The main goal of the work is the analysis and description of differences in the concept of gender and age characteristics, as well as the description and analysis of the process of the formation of female dis- course as independent. According to the authors of the study, the identi- fication of a man and a woman from the point of view of belonging to the home (gender, family) as a whole, which is belong to traditional culture, does not imply an independent gender identity, but only a functional one. At the same time, the fixation of the functions of the wife and husband, as well as servants and children (“Domostroy”) leads to the fact that the cus- tom acquires a normative character and, as a result, each of the functions acquires legal independence, which makes it possible, on the one hand, to transfer the structure of the home (as the relationship of functions) to other cultural phenomena (for example, the state), as A. Kurbsky does, and on the other hand, suppose the independence of individual functions, the possibility of their absence in the system, the features of such point of view are demonstrated by Ivan IV, although on the whole they retain traditional semantic patterns. But it is this approach that allows independent female images to emerge in the 17th century in the person of the teachers of the schismatic Morozova and Urusova or princess Sophia. At the beginning of the 18th century, a complete reformatting of the cultural sphere takes place and one can speak of an independent female discourse, like the male one. In the second half of the 18th century, a man and a woman were already perceived separately, although, for example, for M. Shcherbatov it was the result of damage to morals., Tematem artykułu jest proces transformacji wyobrażeń o genderowej tożsamości przedstawiony na przykładzie rosyjskiej kultury od XVI do początków XVIII w. Głównym celem pracy jest analiza i opis specyfiki ówczesnych wyobrażeń na temat cech płciowych mężczyzny i kobiety, a także procesu stanowienia autonomicznego dyskursu żeńskiego. Zdaniem autorów niniejszego badania, tożsamość mężczyzny i kobiety z punktu widzenia przynależności do domu (rodu, rodziny) jako całości, właściwa dla kultury tradycyjnej, nie zakładała samodzielnej genderowej tożsamości, a jedynie tożsamość funkcjonalną. Jednocześnie, utrwalenie funkcji żony oraz męża, jak również służących i dzieci (Domoustroj), prowadziło do tego, że obyczaj uzyskał charakter normatywny, na skutek czego każda z takich funkcji uzyskała samodzielność w świetle prawa. Z jednej strony czyni to możliwym przeniesienie trójczłonowej struktury domu (jako systemu powiązanych funkcji ojca, żony oraz dzieci/służących) na inne społeczno-kulturowe fenomeny, jak choćby na państwo, przykładem czego są idee A. Kurbskiego (państwo jako trójczłonowa relacja car – doradcy – naród). Zarazem staje się możliwe rozpatrywanie poszczególnych funkcji w oderwaniu od płci lub całkowite pominięcie niektórych funkcji w systemie społecznym. Przykładem tego jest podejście reprezentowane przez cara Iwana Groźnego, chociaż ogólnie zachowuje on jeszcze tradycyjne wzorce generujące sensy kulturowe, postrzegając państwo jako dwuczłonową strukturę car – poddani. Usamodzielnienie funkcji społecznych w dalszej perspektywie czasowej pozwala na kształtowanie niezależnych żeńskich obrazów w XVII w. – w postaci czy to nauczających działaczek religijnych, jak Morozowa lub Urusowa, czy też księżnej Sofii. Następnie, już na początku wieku XVIII, miało dojść do całkowitego przeformatowania sfery kulturowej – od tego momentu można mówić o samodzielnym żeńskim dyskursie, jak również o dyskursie męskim. W drugiej połowie XVIII w. mężczyzna i kobieta są już postrzegani w ramach dwóch autonomicznych – żeńskiego i męskiego – dyskursów, chociaż M. Szczerbatow uznaje taką tendencję za skutek upadku obyczajów. &nbsp

Background First-line pembrolizumab monotherapy improves overall and progression-free survival in patients with untreated metastatic non-small-cell lung cancer with a programmed death ligand 1 (PD-L1) tumour proportion score (TPS) of 50% or greater. We investigated overall survival after treatment with pembrolizumab monotherapy in patients with a PD-L1 TPS of 1% or greater. Methods This randomised, open-label, phase 3 study was done in 213 medical centres in 32 countries. Eligible patients were adults (≥18 years) with previously untreated locally advanced or metastatic non-small-cell lung cancer without a sensitising EGFR mutation or ALK translocation and with an Eastern Cooperative Oncology Group (ECOG) performance status score of 0 or 1, life expectancy 3 months or longer, and a PD-L1 TPS of 1% or greater. Randomisation was computer generated, accessed via an interactive voice-response and integrated web-response system, and stratified by region of enrolment (east Asia vs rest of world), ECOG performance status score (0 vs 1), histology (squamous vs non-squamous), and PD-L1 TPS (≥50% vs 1-49%). Enrolled patients were randomly assigned 1:1 in blocks of four per stratum to receive pembrolizumab 200 mg every 3 weeks for up to 35 cycles or the investigator's choice of platinum-based chemotherapy for four to six cycles. Primary endpoints were overall survival in patients with a TPS of 50% or greater, 20% or greater, and 1% or greater (one-sided significance thresholds, p=0·0122, p=0·0120, and p=0·0124, respectively) in the intention-to-treat population, assessed sequentially if the previous findings were significant. This study is registered at ClinicalTrials.gov, number NCT02220894. Findings From Dec 19, 2014, to March 6, 2017, 1274 patients (902 men, 372 women, median age 63 years [IQR 57-69]) with a PD-L1 TPS of 1% or greater were allocated to pembrolizumab (n=637) or chemotherapy (n=637) and included in the intention-to-treat population. 599 (47%) had a TPS of 50% or greater and 818 patients (64%) had a TPS of 20% or greater. As of Feb 26, 2018, median follow-up was 12·8 months. Overall survival was significantly longer in the pembrolizumab group than in the chemotherapy group in all three TPS populations (≥50% hazard ratio 0·69, 95% CI 0·56-0·85, p=0·0003; ≥20% 0·77, 0·64-0·92, p=0·0020, and ≥1% 0·81, 0·71-0·93, p=0·0018). The median surival values by TPS population were 20·0 months (95% CI 15·4-24·9) for pembrolizumab versus 12·2 months (10·4-14·2) for chemotherapy, 17·7 months (15·3-22·1) versus 13·0 months (11·6-15·3), and 16·7 months (13·9-19·7) versus 12·1 months (11·3-13·3), respectively. Treatment-related adverse events of grade 3 or worse occurred in 113 (18%) of 636 treated patients in the pembrolizumab group and in 252 (41%) of 615 in the chemotherapy group and led to death in 13 (2%) and 14 (2%) patients, respectively. Interpretation The benefit-to-risk profile suggests that pembrolizumab monotherapy can be extended as first-line therapy to patients with locally advanced or metastatic non-small-cell lung cancer without sensitising EGFR or ALK alterations and with low PD-L1 TPS. Funding Merck Sharp & Dohme.

Energy consumption analysis by regions of the world for the period from 2005 to 2019 showed that the growth of energy consumption is only increasing every year and requires certain energy-efficient measures. The largest energy consumption is in the construction sector, namely in residential buildings, which is associated with the large cities urbanization. Energy consumption depends not only on the energy efficiency of the temperature and lighting control systems, but also on the efficiency of the buildings in which they operate. Based on this, the housing stock of the city of Voronezh, which was conditionally divided into “old apartment buildings” and “new apartment buildings” (depending on the building period) was considered. Multi-apartment buildings were considered, taking into account various characteristics in order to identify the actual characteristics that affect energy consumption. Based on the data obtained, a statistical analysis of energy consumption in old apartment buildings and new ones, respectively, was carried out. On the basis of the research an algorithm was proposed for the energy-efficient measures introduction when planning major repairs in apartment buildings (AB) using a weighted directed acyclic graph.

Authoritarian leaders rely on regional officials for both political support and the fulfillment of their policy objectives. Central leaders face trade-offs between using institutionalized rules for choosing regional officials such as regular rotation and performance incentives, and building a stable base of personal support from loyalists. This paper analyzes appointments of regional officials in Russia and China before and after 2012. We hypothesize that, as a consequence of the centralization and personalization of state power in both regimes over the past decade, Russia’s system for appointing regional officials has become somewhat more regularized while in China under Xi it has become somewhat less regularized. Our analysis uses a comprehensive original set of biographical data on all top regional officials from 2002 through 2019 in China and from 2000 through 2019 in Russia. We discern clear differences between the pre- and post-2012 period for China and less marked differences for pre- and post-2012 Russia.

At the moment, it is impossible to deny the appearance of the obvious problem of the effective implementation of energy-saving measures during the overhaul of apartment buildings. This article considered the possibility of using one of the methods for the section of mathematics of the Theory of Graphs during the overhaul of apartment buildings with the introduction of energy-saving technologies. In the course of the research, elements were used in the form of an oriented graph with the help of which the adjacency matrix was constructed. Thanks to the work done, it was possible to isolate the resource potential of introducing energy-efficient technologies in the overhaul and identified their optimal order of inclusion in the process of renovating apartment buildings. Based on the obtained combinations, a digraph is built showing the relationship between the planned energy-saving technologies in apartment buildings, and also presents the calculation of financial and economic indicators for assessing the implementation of energy-efficient measures and proposes a general scheme for the implementation of energy-saving technologies when carrying out major repairs in apartment buildings to simplify work. Based on the analysis of real existing technologies using the constructed cost functional, the directions for improving the efficiency of reconstruction processes and reducing the cost of capital repairs are formulated.

e13035 Background: EMPOWER trial demonstrated the benefit of eribulin administrated post CD4/6i in patients (pts) with HR+ HER2-negative (HR+HER2-) metastatic breast cancer (MBC). There are several important limitations to this trial: > 60% of pts were stage IV at the time of treatment initiation, eribulin used in late lines (2L only in 30% pts) and follow-up data were immature. Current study aimed to provide additional data on the real-world effectiveness and safety of eribulin monotherapy in this setting. Methods: Observation study of eribulin monotherapy in standard regimen enrolled 54 pts (median age 56; range 29-79 years) with HR+ HER2- MBC received at least one dose of eribulin post CDK 4/6i in metastatic settings; 24% pts had de novo metastatic BC, 76% - recurrent BC; 77% received palbociclib, 21% ribociclib, 2% both drugs; 49% pts received CDK4/6i with fulvestrant and 51% with AI. CDK4/6i was used: 49% pts in 1L, 36% in 2L, 16% in 3L. Median DOR of CDK4/6i treatment was 9.07 months (range 2-38). 94% pts received anthracyclines and taxanes, eribulin was used in 2L in 60%, 30% in 3L, 8% in 4L, 2% in 5L. The most common sites of metastases (Mts) were bones (78%), liver (73%), lung (56%) and brain (8%); visceral Mts were seen in 90% pts. Median follow-up – 11,5 months (range 3-36). Results: Median cycles of eribulin therapy was 10,5 (range 1-44); objective response rate was seen in 24%, stabilization - 67%, progression - in 9%. Median PFS was 10.0 months, there were no significant differences in the different subgroups (visceral/no visceral; recurrent/de novo BC; age; CDK4/6i as 1L vs 2L, fulvestrant vs AI), p > 0,05. Median PFS was higher in pts with lung Mts vs non-lung (24 vs 9,1 months, p = 0.056). Most common AEs all grades were neutropenia (26%), anemia (9%), asthenia (9%), polyneuropathy (11.1%). AE did not affect the effectiveness of eribulin (p = 0.648). Dose reduction was in 19% pts and did not affect the effectiveness of eribulin (p = 0.612). At median follow-up of 11.5 months, 92.5% of patients still alive. Conclusions: As post-CDK4/6i therapy, eribulin in HR+HER2- MBC pts was effective and well tolerated, regardless of age, line of CDK4/6, CDK 4/6i combination partner. Patients with metastasis to the lung have better mPFS. Results in this real-world population of pts with HR+HER2- MBC were consistent with the EMPOWER study, and support administration of eribulin in 2-3 lines as an effective option for post-CD4/6i pts.

The issue of including energy efficient measures in the overhaul of residential real estate has been discussed for several years. The relevance of this issue is increasing in connection with the requirements established at the state level to improve the energy efficiency of buildings. The article calculates the determination of the energy efficiency class of a residential property included in the “Regional program for the overhaul of common property in apartment buildings in the Voronezh region for 2014–2044”, after the implementation of energy efficiency measures. Improving energy efficiency is a strategic goal. However, energy efficiency improvements do not always lead to energy savings due to the “rebound effect”. Therefore, it is necessary to organize the implementation of energy-efficient measures during the overhaul of residential real estate and the implementation of energy-saving programs (municipal, regional, state, industry).

The number and severity of road traffic accidents in the Russian Federation is not reduced from year to year. It is established that one of the common causes of traffic accidents is sleep at the wheel, it is especially typical for operators-drivers of transport agricultural machinery. According to the experimental data were derived mathematical dependences of operator reaction time of the driver at the beginning and end of the work shift by his age, which proved that with increasing age operator reaction time in an emergency increases

This article is dedicated to the analysis of the main parameters of choice as a self-determination activity and to the elaboration of a special tool for their assessment. Our aim was to allocate process-related subjective indicators of the quality of concrete choices. We developed and validated a 16-item questionnaire called the Subjective quality of choice technique which measures four qualitative dimensions of choice: mindfulness, emotional valence, self-determination, and satisfaction with the outcome. This four-factor structure of choice parameters was relatively invariant in different real life situations of significant choices (local elections, university attendance, vocational orientation at high school, etc.). The Subjective quality of choice technique allows us to explicate the subjective picture of making personal choice as an intrinsically vs. extrinsically regulated process and to study its phenomenology.