Cooperative Control of Underwater Vehicle-Manipulator Systems Based on the SDC Method.

The paper considers the problem of cooperative control synthesis for a complex of N underwater vehicle-manipulator systems (UVMS) to perform the work of moving a cargo along a given trajectory. Here, we used the approach based on the representation of nonlinear dynamics models in the form of state space with state-dependent coefficients (SDC-form). That allowed us to apply methods of suboptimal control with feedback based on the state-dependent differential Riccati equation (SDDRE) solution at a finite time interval, providing the change in control intensity with the transient effect of the system matrices in SDC form.

Ionofore antibiotic polynactin produced by Streptomyces sp. 156A isolated from Lake Baikal.

The potential antibacterial activity of secondary metabolites produced by Streptomyces sp. 156A isolated from Lake Baikal was investigated. The selective liquid-liquid extraction method was applied to obtain a mixture of nactins (polynactin) produced by the strain.

Stratified distribution of nutrients and extremophile biota within freshwater ice covering the surface of Lake Baikal.

Biological entities and gradients of selected chemicals within the seemingly barren ice layers covering Lake Baikal were investigated. Ice cores 40-68 cm long were obtained from in shore and offshore sites of Southern Lake Baikal during the cold period of a year (March-April) in 2007 and 2008. In microscopic observations of the melted ice, both algae and bacteria were found in considerable numbers (>10(3) cells/L and >10(4) cells/ml, respectively).

[Effect of electric stimulation of auricular acupuncture points on H-reflex].

The non-nociceptive H-reflex in the musculus soleus were recorded before and after auricular electroacupuncture (AEAP) in patients with vertebrogenic pain syndrome. Changes of the H-reflex on the side of the pain syndrome were observed after ipsi- and contralateral AEAP, the latter producing effect more often. Changes of H-reflex are mainly of facilitating character (71.