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Исследована задача сближения беспилотного летательного аппарата – конвертоплана с беспилотной машиной для осуществления посадки на платформу в кузове движущейся машины. Предложено решение задачи сближения беспилотного летательного аппарата с беспилотной машиной с помощью технологий самонаведения. Представлены методы самонаведения и принципы работы различных алгоритмов самонаведения., The problem of convergence of an unmanned aerial vehicle – a tiltrotor with an unmanned vehicle for landing on a platform in the back of a moving car – has been investigated. A solution to the problem of approaching an unmanned aerial vehicle with an unmanned vehicle using homing technologies is proposed. Homing methods and principles of operation of various homing algorithms are presented., Авиакосмическое приборостроение, Выпуск 1 2022

Цель работы изучение направленного движения мультипотентных мезенхимальных стромальных клеток (ММСК), выделенных из плаценты, в различные органы и ткани лабораторных животных в физиологических условиях и после субтотальной резекции печени. Методика. Клеточную культуру ММСК получали из хориона плаценты лабораторных крыс. Культивирование ММСК проводилось в условиях СО2 инкубатора при температуре 37 C с содержанием углекислого газа 5 и влажностью 90. Замену среды проводили каждые 34 сут до достижения клетками 7080 конфлюэнтности. При формировании соответствующего монослоя осуществлялся пересев клеток. При трансплантации лабораторным животным была использована культура ММСК 3го пассажа. Введение клеток производили сразу после выполнения субтотальной резекции печени. Резекция 70 печени у крыс выполнена по методике G.M. Higgins, R.M. Anderson. Введение ММСК, меченых акридиновым оранжевым, осуществляли внутривенно, интраперитонеально, в печеночную артерию, в портальную вену в дозе 4 млн кл/кг. массы тела. Анализ распределения ММСК проводили через 3 и 24 ч. Результаты. Показано, что через 1 сут после введения клеток ложнооперированным животным не отмечено существенных изменений распределения ММСК по сравнению с их распределением через 3 ч. Однако если введение клеток сопряжено с оперативным вмешательством (лапаротомия для обеспечения введения клеток в v. portae и a. hepatica) происходит снижение их количества в периферической крови. Через 1 сут после резекции печени в изучаемых органах и тканях (периферическая кровь, легкое, селезенка, костный мозг, тонкий кишечник, почка) содержание трансплантированных ММСК ниже по сравнению с их количеством в тот же период времени в данных органах и тканях без резекции печени. Обращает внимание значительное увеличение количества введенных клеток в печени после ее резекции как через 3 ч, так и через 24 ч по сравнению с физиологическими условиями. Заключение. Отмечено значительное увеличение количества клеток в печени после ее резекции вне зависимости от способа введения. Внутрибрюшинный способ введения клеток показал низкую эффективность доставки клеток в органы и ткани организма., The aim was to study migration of multipotent mesenchymal stromal cells (MSCS) isolated from the placenta to various organs and tissues of laboratory animals under the physiological conditions and after subtotal liver resection. Method. The MMSC cells for culturing were obtained from the rat placental chorion. MMSCs were cultured in a CO2 incubator at 37 oC, 5 CO2, and 90 humidity. The medium was replaced every 34 days until the cells reached 7080 confluence. Upon formation of an appropriate monolayer the cells were passed. The third passage culture of MMSC was used for transplantation to laboratory animals. Cells were injected immediately after subtotal liver resection. The 70 rat liver resection was performed according to the method of G.M. Higgins and R.M. Anderson. The acridine orange labeled MMSC were injected intravenously, intraperitoneally, into the hepatic artery, and into the portal vein at a dose of 4x106 cells/kg body weight. The MMSC distribution was analyzed at 3 and 24 hours. Results. In 24 h after the cell injection in the absence of liver resection, no significant changes were observed in the MMSCs distribution compared to their distribution in 3 hours. However, when the cell injection was associated with a surgery (laparotomy to ensure the cell injection into the portal vein and hepatic artery) the cell number was decreased in the peripheral blood. At one day after liver resection, the content of transplanted MMSCs was lower in the studied organs and tissues (peripheral blood, lung, spleen, bone marrow, small intestine, and kidney) compared to the respective values without liver resection in the same period. Noticeably, the number of injected cells was significantly increased in the liver at both 3 and 24 hours after resection compared to the physiological conditions. Conclusion. The number of cells was significantly increased in the liver after resection regardless of the cell administration route. Intraperitoneal cell injection showed a low effectiveness of cell delivery to organs and tissues., №1 (2019)

The aim of the study is elaboration of control algorithms for an unmanned vessel movement in uncertain environments. The mathematical model of the unmanned vessel is based on the equations of motion of a solid body. In the article three modes of movement are considered. The first mode is a terminal movement to a given point. The second mode is homing in a given area of the point. The third mode is obstacle avoiding. It is necessary to ensure smooth transients. Base multimode controller is designed by the position-path attitude of a movement control. In this study a novel algorithm of the references calculation is proposed. The algorithm changes the mode in a planning level. The low level single controller is used for the considered modes of a vessel motion. In the mode of terminal control a vessel velocity reference is calculated as function of the distance to the homing point and the given time of movement. A problem of terminal control is solved as a problem of weak terminal control. A weak terminal control problem introduces the error of a vessel homing. This error eliminates a singularity at the homing point. In the homing mode the vessel velocity reference is calculated as function of the distance to the homing point. The vessel velocity reference is the proportional function of the distance to the homing point. In the obstacle avoiding mode the vessel yaw is corrected by additional component. This component is solution of the additional differential equation. The solution is stable if distance from the vessel to the obstacle is more than the safety distance. The solution is unstable if distance from the vessel to the obstacle is less than the safety distance. Composition of the different modes is made by fuzzy logics algorithms. Developed fuzzy logics based algorithms smooth the transients, and eliminate the singularity at the homing point. Asymptotical stability of the origin of the closed control system is proved. Presented results are demonstrated by simulation. Developed algorithms are implemented in the control system of mini vessel.