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Objective: To discuss the feasibility of modifying the analytical calculation technique for the required number of receiving and departure tracks in the technical station yards. To show the need to introduce new adjustment factors to assess the time spent by a transit freight train at the station, considering the influence of external factors – often random events – on the duration of the receiving and departure track occupation; to determine the possibility of adjustment factors application for a preliminary assessment of the required number of receiving and departure tracks; to substantiate the need for simulation of the station operation for a more accurate assessment of the required number of receiving and departure tracks depending on the time spent by a transit freight train at the station, considering the influence of external factors. Methods: Comparative analysis of the existing techniques for determining the required number of receiving and departure tracks, assessment of analytical dependencies, and substantiation of the need to introduce new adjustment factors based on the analysis of the technical stations’ reported performance indicators are applied. Results: The need to improve the existing analytical calculation technique for the required number of receiving and departure tracks has been indicated. The groups of factors influencing the time spent by a transit freight train at the station, including the required number of tracks, have been determined. New adjustment factors to assess the time spent by a transit freight train at the station have been proposed. The need for additional study of this issue has been revealed. Practical importance: The authors have shown that it is necessary to clarify the existing analytical calculation technique for the required number of receiving and departure tracks by introducing the adjustment factors, which will improve the accuracy of determining the required number of receiving and departure tracks at a technical station.

Developing multi-purpose AUV with through-body thrusters capable of undertaking both survey-style missions and low-speed interaction requires sophisticated thruster allocation algorithms. The paper presents the adaptive optimal allocation method. This method allows a smooth transition between different motion styles by exponentially decreasing through-body thrusters’ involvement according to their hydrodynamic model. The proposed method is compared with the prioritized direct allocation method. The simulation result of the control allocation for the AUV “MMT-300” propulsion system model is provided.

The Patrolling sea areas is one of the main tasks of the HUV when performing both typical search and survey works and a number of special-purpose works when servicing marine infrastructures [1]. The task of patrolling includes a purposeful choice of the route of the HUV with the search and examination of objects (targets), which implies the use of effective control under conditions of uncertainty in the environment and a correct dynamic model of movement, taking into account possible errors in the initial data. Particularly difficult is the task of realizing the spatial movement of the HUV near the bottom with a variable relief and the presence of significant obstacles along the route of movement. In the general case, it is required to provide equidistant movement relative to the bottom with safe overcoming of obstacles and minimization of traffic costs [2]. The solution to the problem depends on the effectiveness of the executive bodies (propulsion and steering complex) and obstacle detection equipment (echolocation systems for forward and downward vision). The control algorithm is based on multi-channel rangefinder information to obstacles and the angular orientation of the AUV relative to the bottom topography profile. The structural and hydrodynamic characteristics of the hybrid vehicle obtained in [3] are used in the model of the dynamics of the HUV. The report presents the results of research on the issues under consideration based on modeling dynamic processes using software tools Simulink Matlab, StateFlow Simulink and available experimental data.

The paper presents the results of an assessment of agroecological conditions in the soils of the Azov-Kuban lowland due to the development of technogenic degradation. A decrease in the share of initial chernozems due to water erosion (washed soils) in the Novokubansky district and waterlogging (compacted and fused soils) in the Timashevsky district and the city of Krasnodar was revealed. A noticeable increase in density in hydrometamorphized analogues of chernoz.

The correspondence of the characteristics of the propulsion and steering complex (PSC) to the values required to compensate for the response of the communication cable determines the efficiency of using tethered underwater vehicles. The report assesses the requirements for the thrust characteristics of the PSC, which ensures the maneuvering of the vehicle relative to the carrier or garage in the mode of movement of the complex along an extended bottom object. The assessment is based on the results of calculating the tension of the communication cable in the stream, due to the joint movement of the tethered system “carrier-garage-vehicle”. This tension, together with the hydrodynamic resistance of the apparatus body, determine the requirements for the thrust characteristics of the PSC, as well as for the power supply system of the complex as a whole. An algorithm is proposed for calculating the tension of the communication cable between the vehicle and carrier in a stationary flow, based on the equation of a chain line and numerical integration of the equations of an inextensible flexible thread. An example of using the proposed methodology for calculating the variants of a tethered system is given.

AUV’s actuators systems are highly affected by external conditions such as incoming flow velocity. The paper aims to estimation of incoming flow velocity based on quasi-steady model of thruster. The work motivation is compensation of incoming flow effect on AUV’s actuators dynamic model for improving actuator control or a velocity estimation in case of velocity sensors absence. The equation for incoming flow velocity estimation is presented. It accounts orientation of thrusters relative to the longitudinal vehicle axis. Thruster parameters identification procedure based on bollard pull tests and marine trials are presented. Comparative results of propulsion-based velocity estimation with DVL data are discussed. Velocity estimation error between methods is less than 0.1 m/s in steady motion and less than 0.2 m/s in transition process.

Objective — to determine the frequency and structure of non‑motor symptoms, their clinical significance in the early stages of amyotrophic lateral sclerosis (ALS), as well as the influence of gender on the severity of non‑motor manifestationsMethods and subjects. Our study included 52 (22 females and 30 males) patients with ALS and 44 (15 females and 29 males) healthy people as the control group. Themean age of the experimental group was 56.7 ± 11.3 years (27 — 79 years), control group — 59.7 ± 12.4 years (33 — 79 years). An NMS scale(NMSQuest) was used to identify non‑motor symptoms. Disease progression was assessed using the Functional Revised Extended ALS Rating Scale (ALSFRS‑R).Results. Patients with ALS were statistically more likely to have non‑motor symptoms such as weight loss (75 %), pain (61.5 %), sweating (55.8 %), and anxiety (53.8 %). In ALS patients, the risk of problems with weight loss, and falls increased more than 8 times. The risk of pain occurence was increased of 2.5 times higher in patients with ALS than in control patients. Also patients under 60 years of age experienced libido falling (c2 = 5.54; p = 0.02) and decreasing (c2 = 4.04; p = 0.04) more frequently compared with the control group.The average score on the ALSFRS‑R scale in patients was 38.5. Correlation analysis revealed a moderate inverse relationship between the number of points on the ALS Patient Evaluation Scale (ALSFRS‑R) and NMS (Non‑Motor Symptom Scale) (r = ‑0.45, p = 0.001).Conclusions. Non‑motor symptoms are an obligate sign of motor neuron disease and can often serve as a rather sensitive indicator of the general functional state of ALS patients. Gastrointestinal disorders prevail in the structure of non‑motor symptoms in ALS patients. The presence of non‑motor symptoms in patients indicates the multisystemic nature of this fatal disease.The use of NMS scale in patients with ALS in the early stages will allow neurologists to detect non‑motor symptoms timely., Цель — определить частоту и структуру немоторных симптомов, их клиническое значение на ранних стадиях бокового амиотрофического склероза (БАС), а также влияние пола на выраженность немоторных проявлений.Материалы и методы. В исследование было включено 52 пациентов с БАС (22 женщины и 30 мужчин) и 44 лица контрольной группы без нейродегенеративных заболеваний (15 женщин и 29 мужчин). Средний возраст пациентов в основной группе составил (56,7 ± 11,3) года (27 — 79 лет), в контрольной группе — (59,7 ± 12,4) года (33 — 79 лет). Для выявления немоторных нарушений использовали шкалу немоторных симптомов (ШНС). Оценку прогрессирования болезни проводили с помощью функциональной пересмотренной и расширенной шкалы оценки БАС (ALSFRS‑R).Результаты. У больных БАС статистически значимо чаще встречались такие немоторные симптомы, как потеря массы тела (75,0 %), боль (61,5 %), потливость (55,8 %) и беспокойство (53,8 %). Риск потери массы тела, падений в 8 раз превышал таковой в контрольной группе, а риск появления болевых ощущений — в 2,5 раза. У пациентов моложе 60 лет статистически значимо чаще наблюдали падение (c2 = 5,54; р = 0,02) и снижение либидо (c2 = 4,04; р = 0,04) по сравнению с контрольной группой. Средний балл по шкале ALSFRS‑R составил 38,5. При корреляционном анализе выявлена умеренная обратно пропорциональная связь ме жду количеством баллов по шкале ALSFRS‑R и ШНС (r = –0,45; р = 0,001).Выводы. Немоторные симптомы являются облигатным признаком болезни мотонейрона и часто могут быть чувствительным индикатором общего функционального состояния больных. В структуре немоторных симптомов у больных БАС преобладают желудочно‑кишечные нарушения. Наличие у пациентов немоторных симптомов свидетельствует о мультисистемном характере этого фатального заболевания. Использование ШНС у пациентов с БАС на ранних стадиях болезни позволит неврологам своевременно выявлять немоторные нарушения., Мета — визначити частоту і структуру немоторних симптомів, їх клінічне значення на ранніх стадіях бічного аміотрофічного склерозу (БАС), а також вплив статі на вираженість немоторних виявів.Матеріали і методи. У дослідження залучено 52 пацієнта з БАС (22 жінки та 30 чоловіків) і 44 особи конт­рольної групи без нейродегенеративних захворювань (15 жінок та 29 чоловіків). Середній вік пацієнтів в основній групі становив (56,7 ± 11,3) року (27 — 79 років), у контрольній групі — (59,7 ± 12,4) року (33 — 79 років). Для виявлення немоторних порушень використовували шкалу немоторних симптомів (ШНС). Оцінку прогресування хвороби проводили за допомогою функціональної переглянутої і розширеної шкали оцінки БАС (ALSFRS‑R).Результати. У хворих на БАС статистично значущо частіше траплялися такі немоторні симптоми, як втрата маси тіла (75,0 %), біль (61,5 %), пітливість (55,8 %) і занепокоєння (53,8 %). Ризик втрати маси тіла, падінь у 8 разів перевищував такий у контрольній групі, а ризик появи больових відчуттів — у 2,5 разу. У пацієнтів молодше 60 років статистично значущо частіше спостерігали падіння (c2 = 5,54; р = 0,02) і зниження лібідо (c2 = 4,04; р = 0,04) порівняно з контрольною групою. Середній бал за шкалою ALSFRS‑R становив 38,5. При кореляційному аналізі виявлено помірний обернено пропорційний зв’язок між кількістю балів за шкалою ALSFRS‑R і ШНС (r = –0,45; р = 0,001).Висновки. Немоторні симптоми є облігатною ознакою хвороби мотонейрона і часто можуть бути чутливим індикатором загального функціонального стану хворих. У структурі немоторних симптомів у хворих на БАС переважають шлунково‑кишкові порушення. Наявність у пацієнтів немоторних симптомів свідчить про мультисистемний характер цього фатального захворювання. Використання ШНС у пацієнтів із БАС на ранніх стадіях хвороби дасть змогу неврологам своєчасно виявляти немоторні порушення.

A comparative analysis of parental age-associated changes in the reproductive function and embryonic development has been performed for offspring of D. melanogaster imagoes of mutant (w 1 and w 1 ) and wild-type (Canton-S and Oregon-R) lines. Fruit fly imagoes from three age groups (3-, 10-, and 20-day-old) were used in the experiment. Reciprocal crossings of young (3-day-old) imagoes to individuals from each age group were performed in order to identify the effects of maternal and/or paternal age on reproductive function parameters in the offspring. The effects of maternal and paternal ages on various reproductive function parameters in F1 offspring were shown to vary between wild-type lines and mutant lines w 1 and w 1 which is apparently due to genetic differences between the lines. The white mutation alone or combined with advanced parental age had a negative effect on fertility and viability characteristics in F1 offspring and caused a predisposition to the development of dominant lethal mutations and death at the pupal stage, such that the emergence of less adapted and viable offspring in the population was prevented.

This article presents the results of developing a model for a regional passenger transport network aimed at solving the logistical problem of constructing rational intermodal routes in a defined closed loop. The tools of graph theory and linear mathematical programming have been applied to build the model algorithm, which allows finding solutions for weighted graphs, in the absence of negative weight links, while keeping information about the sequence of hub points on the selected paths. The proposed solutions are versatile enough to be scalable for regions with different network topologies. The model is adapted to dynamically changing and extensible systems, allowing it to be practically applied to justify options for the future development of infrastructure in different modes of transport.

The report presents a comparative analysis of various control allocation methods by taking into account an over-actuated propulsion system and actuator constraints for autonomous underwater vehicles. Comparing methods by the size of a feasible control region, compute time, consumed power, and control error is presented. It is shown that the choice of an allocation method significantly affects the quality of control of an underwater vehicle and consumed power during maneuvers.

Traditionally, bottom magnetic surveying is performed on towing the magnetometer by the ship with considerable length of the communication cable. This method is high costed and has significant limitations due to risks of equipment loss at poor weather conditions. At the same time, the magnetic field created by on-board equipments excludes possibility of installing a precision magnetometer in an underwater vehicle. To achieve the maximum accuracy of the magnetic survey, it is required to tow the measuring equipment at some distance from the vehicle, depending on its length. The article shows study results of effect of the towed magnetometer on the motion parameters of an autonomous underwater vehicle. The method developed by the authors for calculating the effect of towed equipment on the vehicle in cruising and maneuvering modes along standard trajectories is presented. The mathematical model of disturbances by towing of a magnetometer is determined. This model is based on an analytical representation of simulation results of steady-state motion. The structure of vehicle motion controller proposed in the article allows perturbations from a towed equipment to be effectively compensated. The simulation results of the underwater vehicle motion with a towed magnetometer are proposed. The usefulness of the method presented in the work was confirmed during the conduct preliminary magnetic survey of the area for underwater fiber-optic connection line in the Sea of Okhotsk.

One way to extend the functionality of autonomous underwater vehicle is to use a surface buoy-repeater that provides a high-speed data exchange channel between the operator station and AUV in real time. Also, the data of the receiver of the satellite navigation system of the buoy make it possible to correct errors accumulated by the on-board navigation system of the device without using hydroacoustic navigation devices. The report presents the design stages of the towed radio buoy, its composition and functional diagram, structural appearance and some results of field tests.

The towed surface radio communication module (SRCM) allows the high-speed communication channel between the control station and an autonomous underwater vehicle (AUV) to be organized and significantly simplifies the navigation support. Herewith, disturbances by the communication cable acting on the SRCM and AUV are significantly affecting the whole system’s parameters. The paper aims to calculate the additional drag force acted on the vehicle by affecting the towed SRCM and communication cable on the AUV in steady conditions and along typical maneuvering trajectories. A model of an underwater tethered motion control system considers the AUV dynamics, and the communication cable is proposed. A kinematic model of the SRCM has been developed. This model determines the submerging of the communication module and hydrodynamic resistance during towing. The paper presents the results of modeling the tethered system’s movement along typical trajectories typical for survey-search AUV. The results allow the additional requirements to the vehicle’s propulsion system and the required additional buoyancy of the SRCM to be obtained.

Questions regarding the creation of a power district two-level control system for voltage and reactive power overflows are examined. Objectives and tasks are designated for the control system, and resolution of this makes it possible to increase the power efficiency of the power grid company. A methodology for controlling equipment at the substation (SS) level is briefly described, as well as expansion and test results on a dynamic model of the power grid.

Periodic cleaning of a hull from biofouling provides high efficiency motion of a vessel. Inspection and cleaning of the underwater part of the vessel afloat is usually carried out by divers aimed with an underwater video system, non-destructive devices for hull structures monitoring, as well as tools for cleaning surfaces from biological fouling and corrosion products. The aim of the study was to develop a new technical tool for remote survey and cleaning of vessels based on the remotely operated uninhabited underwater vehicle (ROV) with build-in underwater laser cleaning equipment. As a result of the research, the prototype of an underwater robotic inspection and laser cleaning system for vessels afloat was designed and developed. The experimental results of the motion control system of the ROV with a hybrid propulsion system both in air and under water are presented. The efficiency of the laser cleaning equipment in stand-alone mode and as part of the vehicle was confirmed. The technical solutions obtained during the development of presented cleaning system allow efficiently and safely inspecting and cleaning the hull without docking of the vessel to be conducted.

The robotic complex for long-term mobile aqua monitoring is presented in this article. The complex consists of the underwater vehicle and the surface repeater. The main feature of the vehicle is a variable buoyancy system. The system allows buoyancy of the vehicle to be controlled in the wide range. We tried to combine mobility of classic AUVs and energy efficiency of static buoys. The technical implementation of the robotic complex and models of its using are presented. The results of the energy efficient hybrid method of depth control with the propulsion system and the VBS (Variable Buoyancy System) and long-term depth scanning by means of the VBS are showed.

It was analyzed a comparative study of age-dependent changes in the parameters of reproductive function and embryonic development of offspring from adults w1c-s, w1Or mutant strains and Canton-S, Oregon-R wild-type strains D. melanogaster. In investigation three age groups of adult drosophila: 3, 10 and 20-days old were used. Reciprocal crosses between young and aging parents enable to define the influence of age of the maternal and/or paternal organism on the parameters of reproductive function. It is shown that the various features of reproductive function in F1 offspring of mutants and wild-type strains are forming differently by the different influence of the age of parents. The established effect of the white mutation, either as an independent factor or in combination with the parental age, is reflected in the low values of the fertility and viability and high values of dominant lethal mutations and mortality on the metamorphosis stage and consequently the appearance of less adapt and viable offspring in the population.Проведен сравнительный анализ возраст-ассоциированых изменений параметров репродуктивной функции и эмбрионального развития потомков имаго D. melanogaster в мутантных линиях w1c-s, w1Or и линиях дикого типа Canton-S и Oregon-R. В эксперименте использовали имаго дрозофилы трех возрастных групп — 3-, 10- и 20-дневного возраста. Для выявления влияния материнского и/или отцовского возраста на параметры репродуктивной функции потомков были проведены реципрокные скрещивания молодых 3-дневных имаго с каждой возрастной группой. Показано, что на различные признаки репродуктивной функции у потомков F1 в линиях дикого типа и мутантных линиях w1c-s, w1Or возраст матери и отца имеет различный характер влияния, который связан с генетическими различиями между линиями. Мутация white самостоятельно и/или в комбинации с возрастом родителей вызывает у потомков F1 уменьшение показателей плодовитости, жизнеспособности и рост доминантных летальных мутаций, гибели на стадии куколки, препятствуя появлению менее приспособленных и жизнеспособных потомков в популяции.

Autonomous Underwater Vehicles (AUVs) are widespread and effective tool for oceanographic research. The main applications of AUVs are long-term missions for survey of wide area and patrolling. However the key issue for long term cruising range is energy storage. One of approaches to reduce energy consumption is using of the variable buoyancy system (VBS) on the AUV. This approach allows to compensate AUV's buoyancy and to reduce energy on hovering due to it. Two combined depth control methods based on cooperative work of propulsion system and variable buoyancy system has been presented in this paper. Estimation of the methods based on calculation of energy consumption and transient response time has been made. Comparison of ones with methods based on standalone work of propulsion system and VBS has been made. Provided methods was proved on simulation and water pool tests on variable buoyancy AUV “CH-2” designed at Institute of Marine Technology Problems FEB RAS year ago.

The survey of an underwater part of ships is the mandatory procedure by rules of the Russian Maritime Register of Shipping. Periodic cleaning of the ship’s hull from biofouling increases efficiency of its motion. Inspection of the underwater part of the ship during afloat is currently carried out by divers with the underwater video system, devices for non-destructive testing of hull structures, and tools for cleaning surfaces from products of biological fouling and corrosion. The purpose of this study was to develop a new technical tool for remote surveying and cleaning of ship’s hull using a remotely operated vehicle (ROV) equipped with underwater laser cleaning equipment. The design of the vehicle for inspection and laser cleaning of ships has been developed during the research. The algorithms for trajectory controlling of the vehicle over the hull surface based on wheel and propulsion system has been proposed. The navigation data for the trajectory planning was received from combination of wheel and visual odometry. The proposed technical solutions allow the hull of the ship to be inspected and cleaned effectively and safely without being placed in the dry dock as well as to quickly assess the condition of the surface with the binding of the results to the ship’s drawing.

Influence of age of parents and duration of starvation on egg production and demonstration of embryonic mortality at different stages of egg development has been studied. It is shown that, with increasing age of organisms, the overall egg production reduces and the percentage of embryonic mortality increases at 0-5.5 and 5.5-17 h of development. An increase in the duration of starvation also promotes a reduction in egg production in 3- and 10-day-old adult D. melanogaster compared with short-term starvation. A statistically significant effect of factors, such as the allelic state of the white locus, the genetic background, the age of the parents, and the duration of starvation, on all studied parameters was established.