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The development and study of an optimal control method for the problem of controlling the formation of a group of mobile robots is still a current and popular theme of work. However, there are few works that take into account the issues of time synchronization of units in a decentralized group. The motivation for taking up this topic was the possibility of improving the accuracy of the movement of a group of robots by including dynamic time synchronization in the control algorithm. The aim of this work was to develop a two-layer synchronous motion control system for a decentralized group of mobile robots. The system consists of a master layer and a sublayer. The sublayer of the control system performs the task of tracking the reference trajectory using a single robot with a kinematic and dynamic controller. In this layer, the input and output signals are linear and angular velocity. The master layer realizes the maintenance of the desired group formation and synchronization of robots during movement. Consensus tracking and virtual structure algorithms were used to implement this level of control. To verify the correctness of operation and evaluate the quality of control for the proposed proprietary approach, simulation studies were conducted in the MATLAB/Simulink environment, followed by laboratory tests using real robots under ROS. The developed system can successfully find application in transportation and logistics tasks in both civilian and military areas.

This paper presents the results of computer simulations related to the selection and optimisation of parameters for a robotic yoghurt mixing process. The authors proposed a station configuration using the RobotStudio environment for off-line robot programming and virtual controller technology and determined the performance of the robotised production line. The main component of the study was a computer simulation of the station based on the Picking PowerPac package and Pick Master 3 program. As a result of the simulations, numerical values were obtained informing about the number of handled and rejected products, filled containers and the times of production cycles of the station.

This article provides a simulation and laboratory study of a control system for a two-wheeled differential-drive mobile robot with ROS system. The authors propose an approach to designing a control system based on a parametric model of the robots dynamics. The values of unknown parameters of the dynamic model have been determined by means of a Levenberg-Marguardt identification method. By comparing the desired trajectories with those obtained from simulation and laboratory tests, and based on errors analysis, the correctness of the model parameter identification process and the control system operation was then determined.

Palletizing and depalletizing processes require specialized equipment, such as grippers dedicated to the type and dimensions of the goods to be handled. The traditional approach used in the robotisation of palletizing workstations is therefore mainly based on the development of specialized grippers, whose design limits their use in other applications. The article presents a concept of a modular gripper system enabling palletization of goods in collective packaging, including cartons, shrink-wrap packs, and bags. The concept developed involves the construction of a gripper system based on common modules that provide for extensive parameterization of device operation. The authors also propose a test bench to test the properties of grippers in a robotic palletizing process.

Autism spectrum disorders (ASD) is a neurodevelopmental disorder influenced by a number of genetic and environmental factors. It is characterized by a broad range of symptoms, particularly in the areas of communication and language, which pose a therapeutic challenge for both parents and therapists. This article, based on a review of available studies on PubMed, presents therapeutic methods based on functional communication strategies and ways to implement them as a form of treatment for children with the autism spectrum disorders. The major goals of ASD treatment are socialization and communication skills improvement and current treatments are not based on pharmacological therapies, but on behavioral therapies. Through appropriate speech development and practical communication strategies that are based on techniques like motivating the child to create eye contact with an adult, it is possible to realize the development of proper communication. These strategies are a form of therapy and allow for the improvement of the child's communication on multiple levels and shaping the social attitudes. Incorporating suitable therapeutic communication techniques enables the development and enhancement of social skills in children with autism spectrum disorders. Children with ASD benefit from appropriate communication because it helps them communicate their needs, understand the social norms, and improve their quality of life.

Introduction: Alzheimer's disease is a degenerative disease of the brain, caused by the deposition of beta-amyloid and tau protein. It is characterized by progressive memory and behavior disorders which, over time, completely prevent the patient from functioning properly in everyday life, performing work and disrupting social contacts. Communication problems arise and patients forget more and more words. Unfortunately, we are not able to completely stop the progression of this disease, but we can only delay its development. To delay the progression of the disease, pharmacotherapy includes acetylcholinesterase inhibitors and NMDA receptor antagonists. Matherials and methods: This article, based on a PubMed review of available research, examines the impact of rivastigmine, donepezil, memantine and psychotherapy on delaying disease progression. Results: A number of studies have investigated the effect of 6-12 milligrams of rivastigmine, 10 milligrams of donepezil and 20 milligrams of memantine on patients' ability to communicate. The results were checked using the MMSE, ADAS or SIB scales and interviews conducted regularly by clinicians. In addition, patients were subjected to various forms of psychotherapy, including reminiscence therapy and cognitive therapy. All groups experienced significantly less deterioration in their functional stage of disease compared to the placebo groups. Conclusions: The best results in the treatment of Alzheimer's disease can be obtained by combining pharmacological therapy with non-pharmacological effects. Thanks to this form of treatment, the progression of the disease is delayed, and patients retain their communication abilities for longer.

Introduction: The count of psychiatric patients is growing. The same trend it is observed among cardiovascular diseases and metabolic like diabetes. Many people take drugs which may affect on mental state. On the one hand that drugs could have pleotropic mechanism of action which are beginning to use in treatment of psychiatry. The other hand is showed undiscovered field of impact on brain working. Methods and Aim: Shown the psychiatric aspect, like side effects and unusual use, of the most used cardiological drugs. To do this, research of articles was done with the help of deta bases such as PubMed and Google Scholar.Results: The most used cardiological drugs are beta blockers, calcium canal blockers, ACE inhibtors, ARBs, nitrats, cilostazol, amiodarone and clonidine In this article it was shown current known about those drugs like mechanism of action and a report of psychiatric clinical trials. Beta-blockers are the most commonly used group of cardiological drugs as the one that significantly affects mental health. Their therapeutic importance has been noted in diseases such as: PTSD or stage fright. It was also long believed that they could make depression worse, but the latest research strongly contradicts this. A positive effect in the treatment of depression can also be obtained by usage of inhibitors of the RAA. Calcium channel blockers are another group of cardiac drugs that are important in the regulation of mood in bipolar disorder. To sum up, a large proportion of cardiac drugs can influence the flow of psychiatric diseases, and the use of them may be clinically desirable in patients with both - cardiac and psychiatric problems.

Mobile robots are increasingly replacing people in particularly dangerous situations and those at risk of losing their lives or health. One of such applications are military and preventive activities, where mobile robots are not only used for reconnaissance and patrol operations and the development trend is focused on the increasing use of mobile robots on the battlefield. Therefore, this type of equipment must meet the requirements and standards guaranteeing safety for the user and the environment. The paper presents a set of requirements for the production and use of autonomous combat vehicles put up by organizations such as the Defence Department, the European Union and NATO.

The paper presents the identification process of the mathematical model parameters of a differential-drive two-wheeled mobile robot. The values of the unknown parameters of the dynamics model were determined by carrying out their identification offline with the Levenberg-Marguardt method and identification online with the Recursive least-squares method. The authors compared the parameters identified by offline and online methods and proposed to support the recursive least squares method with the results obtained by offline identification. The correctness of the identification process of the robot dynamics model parameters, and the operation of the control system was verified by comparing the desired trajectories and those obtained through simulation studies and laboratory tests. Then an analysis of errors defined as the difference between the values of reference position, orientation and velocity, and those obtained from simulations and laboratory tests was carried out. On itd basis, the quality of regulation in the proposed algorithm was determined.

Inspection and engineering work inside ducts are a serious challenge in terms of logistics and processing. Processing-wise, a major obstacle is the remote control over a modular mobile unit with a variable cinematic configuration and intended to manage complex operating processes. This paper presents the results of the development of a mobile robot for inspection and engineering work. The items of a specific focus of the development work were the remote-control system structure and the control algorithms for the propulsion module control and the operating module control.

The article presents issues related to an experimental study of the vibrations of a roller shutter gripper on a robotic palletizing station. The authors presented the developed and built construction of the gripper for handling whole layers of products, separators, and pallets. The concept of the device was developed in cooperation with an integrator company. The authors verified the functionality of the gripper in a virtual environment for modeling and programming industrial robots. After the gripper was manufactured and the control software was developed for it, functional tests and inertia tests were carried out. The main purpose of the tests was to determine the vibration of the robot’s flange and the vibration of the attached gripper. Tests of the gripper’s properties on the robotic test bench were performed using MTi XSENS sensors and a PHANTOM V210 high-speed camera. The testing methodology proposed by the authors made it possible to confirm the occurrence of vibrations in the structure and to determine the relationship between the parameters of the robot’s motion (velocity and acceleration) and the magnitude of the vibrations occurring. During the tests, a disturbance in the decrease in the maximum value of acceleration was noted. This may be due to the appearance of natural vibrations in the structure. They have a damped character; however, they are not steady. In future work, the authors will focus on the possibility of using the proposed methodology to reduce robot vibrations in selected robotic production processes (such as spot welding).

An abdominal aortic aneurysm (AAA) is a pathological local dilatation of the abdominal aorta that may develop from a variety of causes. With a 80% mortality rate, it is mainly linked to male gender, age above 65 years, smoking, and a family history of AAA. Ultrasonography is an effective method for screening males who are 65 or older for AAA. Endovascular aneurysm repair (EVAR) procedure reduces 30-day operative mortality and hospital stay, becoming a global standard. Both open and endovascular surgery aim to cut off the aneurysm's circulation, preventing it from rupturing. Diabetes mellitus (DM) may provide protection against regrowth and the need for additional intervention after endovascular AAA repair, thereby limiting the enlargement and rupture of AAAs. Hyperglycemia thickens the aortic walls and reduces wall stress in diabetic patients' abdominal aortas. It stabilizes collagen structure and promotes the synthesis of collagen type IV. Anti-diabetic drugs like metformin, thiazolidinedione, and dipeptidyl peptidase 4 inhibitors (DPP-4i) have been shown in both animal and human studies to protect against aortic aneurysms. In a dose-response pattern, these antidiabetic drugs may lower the prevalence, incidence, and enlargement rate of AAA.