Dynamic Smoothing, Filtering and Differentiation of Signals Defining the Path of the UAV.

On the example of a control system for an unmanned aerial vehicle, we consider the problems of filtering, smoothing and restoring derivatives of reference action signals. These signals determine the desired spatial path of the plant at the first approximation. As a rule, researchers have considered these problems separately and have used different methods to solve each of them.

Sliding mode controller-observer pair for p53 pathway.

A significant loss of p53 protein, an anti-tumour agent, is observed in early cancerous cells. Induction of small molecules based drug is by far the most prominent technique to revive and maintain wild-type p53 to the desired level. In this study, a sliding mode control (SMC) based robust non-linear technique is presented for the drug design of a control-oriented p53 model.

[Psychosomatic inductions in a family and their correction by a psychotherapist].

Twelve mother-child pairs with common somatic-neurological symptoms have been examined. A clinical-psychological examination of women revealed increased levels of anxiety, hypochondria, physical and verbal aggression. Suggestion from a mother and imitation by a child characteristic of mother-child pairs cause psychosomatic inductions.

[Results of testing of MINISKAN mobile gamma-ray camera and specific features of its design].

The main results of engineering, biomedical, and clinical testing of MINISKAN mobile gamma-ray camera are presented. Specific features of the camera hardware and software, as well as the main technical specifications, are described. The gamma-ray camera implements a new technology based on reconstructive tomography, aperture encoding, and digital processing of signals.

[An analysis of subjective perception of hypnotic state].

The results of the study of hypnotic states on the basis of subjective reflections of their perceptions by patients are presented. The factor map of the features of hypnotic states formation is obtained and some variants of the course of hypnotic states are determined in light of domination of the certain factors.

[The peculiarities of hypnotic states in patients with borderline mental disorders].

Two hundreds and eighteen patients with borderline mental disorders have been examined. After the first session of hypnosis suggesting therapy, 5 clinical variants of hypnotic states (physiological, asthenic, phobic, hysterical and mixed) were distinguished. Additionally, 40 patients have been interviewed for obtaining a formalized, according to adjectives used by the patients, description of experiences during the hypnotic session.

Main results and experience obtained on Mir space station and experiment program for Russian segment of ISS.

This article presents main scientific and practical results obtained in course of scientific and applied research and experiments on Mir space station. Based on Mir experience, processes of research program formation for the Russian Segment of the ISS are briefly described. The major trends of activities planned in the frames of these programs as well as preliminary results of increment research programs implementation in the ISS' first missions are also presented.

[Reaferon in the treatment of hemorrhagic fever with the renal syndrome].

Ninety six patients with hemorrhagic fever and the renal syndrome were followed up. Reaferon was included into the complex therapy of 57 cases. The drug was administered intramuscularly in a dose of 2 x 10(6) IU twice a day for 5 days.

[Study of genomic polymorphism of Shigella flexneri strains, isolated in various geographic regions].

Strains of Shigella flexneri isolated from patients in 4 geographic regions of the former USSR have been studied by plasmid analysis and fingerprinting techniques. It has been shown that these methods make possible to differentiate phenotypically identical strains for 9 genotypic patterns (7 different plasmid profiles and 3 specific hybridization patterns). Strains of Shigella flexneri isolated from each region possess the similar hybridization patterns independent of serovar and plasmid profiles.

[Von Willebrand factor, antithrombin III and 5'-nucleotidase in the blood and the athrombogenic properties of the vascular wall in patients with hemorrhagic fever with renal syndrome].

Willebrand's factor (WF), antithrombin III (AT-III), blood 5'-nucleotidase and athrombogenic properties of the vascular wall were studied in the course of the disease in 69 patients suffering from hemorrhagic fever with renal syndrome (HFRS). The patients were chiefly under 27 years, had severe or moderate condition. It was found that WF rose 3-fold in oliguria, but returned to normal values by convalescence.

[Use of YAG-neodymium and CO2 lasers for creating small-intestinal anastomoses].

A method for creating laser enteric anastomoses was developed in experiments with YAG-neodymium and CO2 lasers. The properties of such anastomoses were studied in detail in the early stages after the operation. The use of serial Soviet-produced laser devices and standard surgical instruments in the experiments makes it possible to introduce the results of the work into clinical practice in the near future.

[Benign tumors of the esophagus].

The results of treatment of 53 patients with benign esophageal tumors are discussed. The diagnosis was mainly established by the radiologic and endoscopic methods. Leiomyoma of the esophagus was recognized in 29 patients, fibroma in 19, a cyst in 2, a polyp in 2 patients and a lipoma in one patient.

[Biomechanical properties of the human esophageal wall and their significance in surgery].

The authors studied the biomechanical and acoustic properties of the esophageal wall as well as the roentgeno-optic density of the esophagus according to its anatomical parts in a wide age range. The mechanical properties were found to be heterogeneous and anisotropic. Their characteristics changed under the effect of atropine and acetylcholine.

[Diagnosis and surgical treatment of pathological venous drainage from the cavernous bodies of the penis].

In examination of 50 patients with impotence, pathological venous drainage (PVD) was revealed in 11 of them. Perfusion graded cavernosometry/cavernosography is the only method by which PVD can be detected and studied thoroughly. Analysis of the cavernosograms revealed a sphincter of the deep dorsal vein of the penis, the dysfunction of which in 10 of the 11 patients was the cause of PVD; in 5 of these patients the dysfunction was combined with excessive development of the subcutaneous veins of the penis.

[Diagnosis and treatment of impotence of vascular etiology].

Most complete information on vascular components of erection can be obtained by using three methods: a pharmacological test for creation of artificial passive erection, roentgen-contrast arterio-cavernography on both sides, perfusion graded cavernometry and cavernography. Of 50 patients examined, 5 had no disorders of vascular components of erection. In 34 patients pathology of the arterial duct was revealed, 11 patients had a pathological venous drain.

[Effectiveness of antitubercular chemotherapy combined with corticosteroids and immunomodulators].

One hundred forty eight patients with common forms of pulmonary tuberculosis in an outbreak phase and the presence of secondary immunodeficiency were observed. Caverns were found in 80.4% and bacterial excretion, in 87.

[Urgent problems of diagnosis and treatment of reflux esophagitis].

The authors analyse the results of diagnosis and surgical treatment of various forms of reflux esophagitis in 426 patients. The disease was caused by hiatal hernia in 60.4% of patients, by various operations on the cardia in 22%, and by gastric and duodenal ulcer in 8.

[Glomus tumor of the stomach].

A case of the stomach glomus tumour is described in a male of 67, with an asymptomatic clinical course. Results of the angiographic, computer-tomographic examination as well as morphological characteristics of the tumour are presented.

[Morphological appearance of cellular immune reaction in the endometrium in spontaneous miscarriage].

Morphometric analysis of lymphocyte, macrophage and polymorphonuclear leukocyte levels in the endometrial stroma was performed in 67 spontaneous and 30 induced abortions during 5-12 weeks of gestation. The results were correlated with the degree of structural maturity of decidual tissue and terminal chorionic villi and showed activation of lymphocyte macrophage reaction mostly pronounced in case of incomplete decidual transformation of endometrial stroma and hypoplastic alterations of chorionic villi. It was concluded that the aforementioned changes were secondary to a decreased function the gravid yellow body and subsequent activation of cell-mediated immune response in the endometrium during spontaneous abortion.