Implementation of the hybrid technology for quadcopter motion control in a complex non-deterministic environment

D. Devitt, R. Morozov,М. Medvedev,I. Shapovalov,G. Konovalov 제어로봇시스템학회 2018 제어로봇시스템학회 국제학술대회 논문집 Vol.2018 No.10

This paper represents the results of development and research of the autonomous control system for the UAV. Existing control systems do not provide flight performance necessary for successful operations in non-deterministic environments. So, we propose hybrid intelligent technology based on unstable modes and the conception of a virtual goal. The main feature of our approach is the efficient integration of global and local path planning providing smooth and quick correction of trajectories for the avoidance of obstacles detected by the quadrotor vision system. Moreover, our local planning approach gives the tool for passing areas with complex obstacles where other local path planning algorithms fail. The hardware-software architecture of the control system based on client-server model with the loose coupling in ROS is presented. The results of simulation and real test flights confirming the efficiency of the proposed technology are shown. We used the commercially available quadcopter and flight controller. That proves absence of necessity in special hardware tools for autonomous flight in environments with uncertainties.

Phase formation behavior of alkali-activated calcined clays: effects of the reactive phase and NaOH concentration

Rakhimova Nailia R.,Morozov Vladimir P.,Eskin Aleksey A. 한국자원공학회 2021 Geosystem engineering Vol.24 No.5

The relevance of calcined clays as sources with a great potential for non-clinker alkali-activated materials has significantly increased in recent decades. This article reports on a study to investigate how NaOH with concentrations in the 5–14 M range affects the mechanical properties, amorphouscrystalline phase transformations, and reaction product composition of alkali-activated calcined kaolinite/montmorillonite cements with reactive phases of 60% and 33%, and with the SiO2/Al2O3 ratios of 1.54 and 1.74. The hardened pastes based on both calcined clays exhibited the highest compressive strength up to 9.1 MPa following their activation with 8 M NaOH. The higher amorphous fraction in the calcined clay provided gradual zeolitisation/crystallisation at Na2O/ SiO2 and Na2O/Al2O3 molar ratios in the 0.36–0.63 and 0.56–0.98 ranges, respectively, accompanied by the deterioration of the mechanical characteristics of the samples. The zeolite content in the alkali-activated calcined clay cements with an amorphous fraction of 33% peaked for NaOH at 11 M, and the corresponding molar ratios of Na2O/SiO2 and Na2O/Al2O3 were 0.85 and 1.46, respectively. The main reaction products in the studied systems determined by XRD, TG/DSC, and FTIR spectroscopy analyses were N-A-S-H and zeolite A. The properties and reaction products obtained favor the use of proposed alkali-activated cements for controlled low-strength materials.

Quantitative estimation of UV light dose concomitant to irradiation with ionizing radiation

Petin, V.G.,Morozov, I.I.,Kim, J.K.,Semkina, M.A. Pergamon 2011 Radiation physics and chemistry Vol.80 No.1

A simple mathematical model for biological estimation of UV light dose concomitant to ionizing radiation was suggested. This approach was applied to determine the dependency of equivalent UV light dose accompanied by 100Gy of ionizing radiation on energy of sparsely ionizing radiation and on volume of the exposed cell suspension. It was revealed that the relative excitation contribution to the total lethal effect and the value of UV dose was greatly increased with an increase in energy of ionizing radiation and volume of irradiated suspensions. It is concluded that these observations are in agreement with the supposition that Cerenkov emission is responsible for the production of UV light damage and the phenomenon of photoreactivation observed after ionizing exposure of bacterial and yeast cells hypersensitive to UV light. A possible synergistic interaction of the damages produced by ionizations and excitations as well as a probable participation of UV component of ionizing radiation in the mechanism of hormesis and adaptive response observed after ionizing radiation exposure is discussed.

Influence of calcined medium grade clay on the properties of Portland cement pastes

Rakhimova Nailia R.,Morozov Vladimir P.,Eskin Aleksey A. 한국자원공학회 2022 Geosystem engineering Vol.25 No.6

In the recent decades, the composition of Portland cements has undergone significant changes related to an increase in the range and content of supplementary cementitious materials following development of composite and multicomposite cements. The development of these binders that meet the requirements of sustainability requires the expansion and adaptation of the mineral resource base of cement industry to the production of low-emission binders with a gradual decrease of resource and energy intensities. Efforts to find the widespread sources of pozzolans providing high reactivity and physical–chemical stability have led to intensive studies on thermally treated clays of various chemical–mineralogical composition and their industrial adoption. Due to scarcity and high cost of kaolin clays, great attention is given to medium- and low-grade clays. This article reports on a study to evaluate the effect of calcined clay with 52% of clay minerals on the properties of fresh and hardened pastes, in particular on the resistance to sodium sulfate and nitric acid attacks. The reaction products assemblage of the blended Portland cement pastes was investigated by XRD and thermal analyses. The hardened Portland cement pastes incorporated with thermally treated clay demonstrated better durability performance compared to reference ones.

소련 사회주의 리얼리즘에 관하여: '국민과 예술'의 문제

모르조프 알렉산드르 일리치,Alexander, Morozov 한국미술이론학회 2009 미술이론과 현장 Vol.7 No.-

The artworks of Socialist Realism of the former Soviet Union, with the beginning of the 21st century, are gaining a new attention from art collectors. One reason for this might consist in the fact that relevant art pieces exemplify the ways in which they visualize ideas on the basis of their high-profile art tradition and also in which they integrate their utopian ideals with mysticism. These aspects of the Soviet art goes far beyond the wide-spread assumption that their art, as a means of propaganda, principally represents a political allegiance to the system. With Stalin coming into power in the 1930s, the artistic trend of Socialist Realism obtained a nationwide sympathy and support from people, giving birth to a new art which essentially corresponded to the demands of the political power. An official art current of the USSR over the period from the 1930s to 1950s, Socialist Realism was in tandem with the Communist commitment to the party and popularity, symbolizing a loyalty to the cause. It was thus characterized by plainness and lucidity so that ordinary people could gain easy access to art. Its salient feature, over an entire range of art, was an optimistic pursuit of a utopian dream. Therefore, it tallied with the popular sentiment for a Communist paradise, giving form to their beliefs in human agency working at the materialist world and also to such abstract concepts as force, fitness, and beauty by adding even mythical ideals. Its main subject matter includes harvest feasts of collective farms, imaginary socialist cities, grand marches of heroic laborers and in this way it served as a propaganda for a sacred utopia of socialist totalitarianism. On the other end of the spectrum, however, rose the second camp of art, which put an emphasis on bona-fide artistic activities of plastic art and on an artist's personal expression and freedom, as opposed to the surface optimism of Socialist Realism. Central to the Russian Avant Garde art, which prized the above-mentioned values, were Malevich's Geometric Abstraction and A. Rodchenko's Constructivism. Furthermore, in the transitional era of the late 20th century and the 21st century it was recognized that film art or electronic media art, rather than traditional genre of paintings, would function as a more efficient way of propaganda. These new genres were made possible by ridiculing the stereotypes of the Russian lifestyle and also by ignoring ethical or professional dimensions of artworks. That is, they reinvented themselves into a sort of field art, seemingly degrading the quality of artworks and transforming them into artifacts or simulacres in the very sense of post-modernism. The advent of the new era brought about the formation and occupation of pop culture of the younger generations, calling into question the idea of art as the class-determined. It also increased the attention to field art, which extensively found way to modern art centers, galleries, and exhibition projects. It can be stated that this was a natural outcome of human nature.

Quantitative evaluation of the parameters of bacterial photoreactivation after exposure to ultraviolet light and ionizing radiation

Kim, JK,Petin, VG,Morozov, II Taylor Francis 2005 International journal of radiation biology Vol.81 No.1

<P>The purpose was to compare quantitatively the parameters of photoreactivation of an ultraviolet (UV) light hypersensitive strain of Escherichia coli Bs-1 irradiated with UV light and ionizing radiation. In addition, to evaluate the influence of the different physical and chemical factors on the parameters of the photoreactivation kinetics of the bacterial cells exposed to ionizing radiation. Survival curves and kinetics of the photoreactivation were measured in E. coli Bs-1 cells exposed to UV light (254?nm) and ionizing radiations (?-rays of 137 Cs, ?-rays of 60 Co and 25 MeV pulsed X-rays). A mathematical model describing the process of photoreactivation in terms of a decreasing effective dose was applied to the experimental data obtained here and that published by others to evaluate quantitatively the probability of photoreactivation and the irreversible component of the radiation damage. Both the rate and extent of photoreactivation decreased in the following order of inactivating agents: UV light, pulsed X-ray beam, ?-ray of 60 Co and ?-ray of 137 Cs. However, the irreversible component of radiation damage increased with the same order of radiations whereas the probability of photoreactivation per unit time was independent of the kind of radiation. After exposure to 6 MeV photons, the parameters of photoreactivation were changed in the presence of caffeine or after irradiation in the presence of the radioprotective agent dithiothreitol. The independence of the probability of photoreactivation on the quality of radiation indicates the cells have the same ability to photoreactivate damage produced by different kinds of radiations and is an additional argument indicating that during ionizing radiation a UV-like damage can be produced. The decrease in the extent and the rate of photoreactivation with radiation quality is explained by the formation of irreversible damage rather than by the impairment of the photorecovery process itself. Chemical and physical factors influencing the relative contribution of ionization and excitation on the ionizing radiation effect could modify both the extent of the photoreactivation and the probability of the recovery per unit time. It is concluded that the mathematical approach used here may be useful to reveal some new relationships between the parameters of photoreactivation.</P>

The Effect of the Preparing Methods of Me+Al (Me=Ti, Ni, Ru) of Powder Blends on Compaction Features, Structure-Phase Transformations and Properties of Transition Metal Aluminides Compacts

Povarova Kira,Drozdov Andrey,Kazanskaya Nadezhda,Morozov Aleksei,Padalko Anatolii,Nikolaev Aleksandr 한국분말야금학회 2006 한국분말야금학회 학술대회논문집 Vol.2006 No.1

Poster Session:PS 0560 ; Oncology : Infi ltrative Ductal Breast Carcinoma: Correlation Between Immunohistochemical Markers and Histopathological Pattern

( Tatyana Kunts ),( Ksenia Karpukhina ),( Dmitry Morozov ),( Maria Pustovetova ) 대한내과학회 2014 대한내과학회 추계학술발표논문집 Vol.2014 No.1

Background: Several immunohistochemical markers are known to predict the biological behavior of breast cancer and assess tumor aggressiveness. In particular, ER and PR receptors concern the occurrence of autocrine and paracrine processes that respond to estrogen and progesterone. Ki67 is a nuclear protein, marker proliferative activity of the tumor, high Ki67 usually correlates with a poor prognosis in breast cancer. There has been interest to observe the expression of immunohistochemical markers in comparison to histopathological features of infi ltrative ductal breast carcinoma. Methods: The study was carried out on the samples from 34 patients with infi ltrative ductal carcinoma. Scheme was elaborated to describe histopathological picture including following points: presence of tumor cells within blood vessels, cell infi ltration (lymphocytes, macrophages and granulocytes), the number of mitoses, the ratio of cell elements at various differentiation stage, vascularization, histological type of tumor, the number of affected lymph nodes. Steroid receptors and Ki67 expression were analyzed by immunohistochemical means. Statistical analysis was performed using Spearman`s nonparametric rank correlation coeffi cient test. Results: Proliferation marker Ki67 was directly connected with the presence of tumor cells within blood vessels (r=0.343, p=0.05), granulocytic cell infi ltration of the tumor (r=0,363, p=0.03), aberrant mitoses (r=0,423, p=0.01), relative immature cells content in the tumor (r=0.543, p=0.001). An inverse correlation between Ki67 and relative content of highly differentiated cells in the tumor (r= -0.388, p=0.02) was revealed. ER and PR indexes demonstrated direct correlation with the number of lymph nodes affected by metastases (r=0.468, p=0.005 and r=0.521, p=0.002, respectively). Conclusions: findings suggest expression of estrogen receptor, progesterone receptor and Ki67 are related to histopathological pattern of infi ltrative ductal breast carcinoma. Consequently, results of immunohistochemical analysis conducted on samples obtained by core biopsy should be used to evaluate tumor severity before the surgery.

Properties of Portland cement paste incorporated with loamy clay

Ravil Z. Rakhimov,Nailia R. Rakhimova,Albert R. Gaifullin,Vladimir P. Morozov 한국자원공학회 2017 Geosystem engineering Vol.20 No.6

Metakaolin which is calcined kaolin clay is being widely applied as supplementary cementitious materials for Portland cement. Due to their scarcity and high cost, calcined ubiquitous polymineral clays are actively studied as alternative to metakaolin. This article presents the study results of influence of calcined ground loamy clay on the properties of Portland cement paste. About 5–15% of loamy clay calcined at 400–600 °C and ground to 250–500 m2/kg were found to be more effective compared to metakaolin of specific surface area of 1200 m2/kg for improvement of compressive strength, water resistance, and increase in density of hardened Portland cement paste.

Calcined low-grade multimineral clays as supplementary cementitious materials: a feasibility study

Rakhimova Nailia R.,Rakhimov Ravil Z.,Bikmukhametov Artur R.,Morozov Vladimir P.,Eskin Aleksey A.,Gubaidullina Alfiya M. 한국자원공학회 2020 Geosystem engineering Vol.23 No.3

The relevance of calcined clays as sources with great potential for low-clinker blended Portland cements has significantly increased in recent decades. This article reports on a study to evaluate the potential of the two low-grade clays containing 9.37% of montmorillonite/chlorite and 12.26% of montmorillonite/kaolinite/chlorite accompanied with 29.73% and 32.79% of calcite, respectively, as supplementary cementitious materials. The clays after thermal treatment at 800°C demonstrated poor pozzolanic activity, slight increase in the C-(S)-H and decline in the CH contents, and decrease in the mechanical properties of the blended Portland cement pastes. The results showed that the investigated clays fall below the range of the clays suitable for pozzolan production.