Imeni Vladimira Il'icha Lenina, Russia
Imeni Vladimira Il'icha Lenina, Russia

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Larkin E.V.,Tula State University | Privalov A.N.,Tula State Pedagogical University
IOP Conference Series: Materials Science and Engineering | Year: 2017

Process of distance control of mobile robots is investigated. Petri-Markov net for modeling of dialogue regime is worked out. It is shown, that sequence of operations of next subjects: a human operator, a dialogue computer and an onboard computer may be simulated with use the theory of semi-Markov processes. From the semi-Markov process of the general form Markov process was obtained, which includes only states of transaction generation. It is shown, that a real transaction flow is the result of concurrency in states of Markov process. Iteration procedure for evaluation of transaction flow parameters, which takes into account effect of concurrency, is proposed. © Published under licence by IOP Publishing Ltd.


Kirillova L.L.,Federal Agency of Scientific Organizations | Nazarova G.N.,Tula State Pedagogical University | Ivanova E.P.,Tula State Pedagogical University
Sel'skokhozyaistvennaya Biologiya | Year: 2016

Currently protective, reparative, anti-mutagenic, antioxidant properties of para-aminobenzoic acid (pABA) are described. The huge number of the facts is saved up concerning its efficiency on all elements of yield structure of different plants species and household purposes. However, there is almost no information about the effect of pABA on amaranth plants in the world literature. Vegetable amaranth is a valuable food culture, promising to Central Russia. Therefore, we are especially interested in ways to facilitate its introduction, increase productivity, and nutritional value. To this end, it is possible to use pABA as environmentally friendly biologically active natural compound with a broad spectrum of action. In this work, we first investigated the effect of pABA on seed germination, and growth, development and productivity of vegetable amaranth Amaranthus caudatus L. variety K173 (K173) and A. cruentus L. variety K185 (K185) of grown plants as well as on light-dependent processes of photosynthesis and nitrogen assimilation in the leaves. To assess the characteristics and level of pABA activity the experimental results concerning influence of a synthetic citokinin 6-benzilaminopurin (6-BAP) on the same parameters are given. A dependence of amaranth seed germination on pABK 10-9 M to 10-4 M concentration used for treatment was found. The seed germination in both varieties was 23±5 % higher at 10-6 M pABK, whereas 10-4 M pABK decreased it by 22±4 %, and other concentrations had no significant effect. In K173 the 15-day seedlings exceeded the control by 10±5 % in height, by 76±6 % in weight, and by 133±17 % in root length at the latent growth stage. Parameters of K185 plants were slightly higher. The acceleration of plant development may contribute to survival and adaptation. Stimulating effect of pABA on K173 and K185 plant growth in height is maintained for the life of plants, except initiation of generative organs (days 60-80). A significant increase (30-85 %) in plant weight compared to control was identified at all stages of ontogenesis. Productivity of leaf biomass per plant in both varieties on day 115 was on average 50±11 % more than in the control. In the leaves of 45-day plants of K173 grown from treated seed, the activity of nitrate reductase increased by 37±4 % and the total protein level was 10±3 % higher when compared to control, thus improving nutritional value of the culture. The rate of photophosphorylation in chloroplasts was shown to be 27±6 % higher, and the rate of electron transport was 32±6 % higher in comparison with the control that led to an increase in leaf net photosynthesis by 22±7 %. These were no different from 6-BAP effects. The pABA influence on the seed germination and plant biometric parameters in K173 and K185 was comparable to the action of 6-BAP. pABK influenced nitrate reductase activity, protein level, chlorophyll content, and photophosphorylation rate in leaves of K173 plants much weaker, than 6-BAP, and differed from it. The pABA properties as a plant hormone are discussed, and the use is recommended for the vegetable amaranth cultivation.


Tsirulnikov S.,Tula State Pedagogical University | Kysil V.,ChemDiv Inc. | Ivachtchenko A.,ChemDiv Inc. | Krasavin M.,Chemical Diversity Research Institute
Synthetic Communications | Year: 2010

2-Amino[1,3]benzothiazoles can be efficiently used as substrates for the Groebke-Blackburn (GB) reaction using equimolar trimethylsilyl chloride (TMSCl) as a promoter. This finding extends the utility of TMSCl in isocyanide-based multicomponent reactions (MCRs) and expands the scope of reactive 2-aminoazole participants for the GBMCR. © 2009 Taylor & Francis Group, LLC.


Larin E.A.,Joint Stock Co New Scientific Technologies | Kochubei V.S.,Joint Stock Co New Scientific Technologies | Atroshchenko Y.M.,Tula State Pedagogical University
Russian Journal of Organic Chemistry | Year: 2014

Synthesis of N-benzyl-N-methyl-2-cyclohepten-1-amine and tert-butyl 4-[benzyl(methyl)amino]-2,3,4,7-tetrahydro-1H-azepine-1-carboxylate from cyclic allyl acetates was performed. The features of stereoselective epoxidation of these substrates were investigated. The subsequent epoxide opening with water led to the formation of new pseudosaccharides, (1RS,2RS,3RS)-3-[benzyl(methyl) amino]-1,2-cycloheptanediol, (1RS,2RS,3SR)-3-[benzyl(methyl)amino]-1,2- cycloheptanediol, and (3RS,4RS,5RS)-3-[benzyl(methyl)amino]-4,5-azepanediol. © 2014 Pleiades Publishing, Ltd.


Larin E.A.,Asinex Corporation | Kochubei V.S.,Asinex Corporation | Atroshchenko Y.M.,Tula State Pedagogical University
Beilstein Journal of Organic Chemistry | Year: 2014

The optimal conditions for regio- and stereoselective epoxide ring opening of N,N -disubstituted 1,2-epoxy-3-aminocyclopentanes by different nucleophilic reagents have been developed. The substituents on the nitrogen atom in the epoxide precursor and the orientation of the oxirane ring are crucial for the reaction outcome. Thus, treatment of (1RS,2SR,3SR)-1,2-epoxy-3-(N,N -dibenzylamino) cyclopentane ( 3b ) with amines gave a mixture of C1 and C2 regioadducts, while the use of (1RS,2SR,3SR)-1,2-epoxy-3-(N-benzyl-N -methylamino)cyclopentane ( 3a ) led ultimately to C1 adducts. Base-catalyzed aminolysis of epoxides 6a,b afforded mainly C1 adducts 13a,b arising from trans -diaxal opening of the epoxide ring. Using a Lewis acid catalyst, epoxides 6a,b were transformed into diaminocyclopentanols 14a,b via an alternative pathway involving the formation of aziridinium intermediate 17. © 2014 Larin et al; licensee Beilstein-Institut. License and terms: see end of document.


Butovsky R.O.,Tula State Pedagogical University
ZooKeys | Year: 2011

Carabid beetles (Coleoptera, Carabidae) are one of the most studied soil groups in relation to heavy metal (HM) accumulation and use for bioindication of environmental pollution. Accumulation of Zn and Cu in carabid beetles was species-, sex- and trophic group-specific. No differences were found in HM contents between omnivorous and carnivorous species. The use of carabid beetles as indicators of HM accumulation appears to be rather limited. © R.O. Butovsky.


Novenko E.Y.,Russian Academy of Sciences | Volkova E.M.,Tula State Pedagogical University | Glasko M.P.,Russian Academy of Sciences | Zuganova I.S.,Russian Academy of Sciences
Vegetation History and Archaeobotany | Year: 2012

New pollen and plant macrofossil data, backed by radiocarbon dates, from the Kulikovo battlefield area in the forest-steppe region of the Upper Don River basin (central part of European Russia) indicate that the area was covered by mosaic vegetation in the second half of the Holocene. Steppe communities dominated during the mid-late Atlantic (7.2-5.7 cal. kyr b. p.) and early Subatlantic (2.7-2.4 cal. kyr b. p.), while forest-steppe dominated during the Subboreal (2.7-5.7 cal. kyr b. p.), middle and late Subatlantic (2.4 cal. kyr b. p. - present). Climatic reconstructions based on these data show that landscape dynamics in the region were most probably driven by changes in effective moisture: an excess of precipitation over evaporation. Even small reductions in annual precipitation, accompanied by a rise in summer temperatures by 1-3°C above present values, were sufficient to increase the proportion of steppe communities within this landscape complex, and also probably resulted in higher frequencies of wildfires. Signals of anthropogenic disturbance of vegetation are clearly pronounced in the pollen and plant macrofossil records since the middle Atlantic. However, human-induced changes in the vegetation remain subtle until the medieval period. © 2011 Springer-Verlag.


Larkin E.,Tula State University | Ivutin A.,Tula State University | Kotov V.,Tula State University | Privalov A.,Tula State Pedagogical University
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | Year: 2016

The process of control of mobile robots (MR) with typical structure, which includes sensors, onboard computer, servomechanisms being organized in multi-loop control systems, and a communicator, is investigated. It is shown, that distinctive feature of the process of MR control is rigid demands both to time of sensors/servomechanisms interrogation, and to delay between receiving information from sensors and delivering adequate command to servomechanism. Approach to modeling of the process of interpretation of external commands by onboard digital control system, based on representation of cyclogram of equipment functioning as 2-parallel semi-Markov process, is proposed. Method of transformation of 2-parallel process into ordinary semi-Markov process is worked out. Dependencies for definition of elements of semi-Markov matrix of pooled semi-Markov process are obtained. Also are obtained dependencies for calculation of time and stochastic parameters of wandering through pooled semi-Markov process and distribution of probabilities of residence of process in its states in steady state regime of functioning. Perspectives of development of direction of mobile robot control are determines. © Springer International Publishing Switzerland 2016.


Khoroon L.V.,Tula State Pedagogical University
Russian Journal of Biological Invasions | Year: 2014

The paper describes a complex of random factors that precondition the first stages of secondary range formation and promote the appearance and the start of self-reproduction of populations of alien plant species and their mutual contacts. © 2014 Pleiades Publishing, Ltd.


Butuzov V.F.,Moscow State University | Denisov I.V.,Tula State Pedagogical University
Automatic Control and Computer Sciences | Year: 2014

In a rectangular domain, the first boundary-value problem is considered for the following singularly perturbed elliptic equation: (Formula presented.) with the function F, which is nonlinear in u. The complete asymptotic solution expansion, which is uniform in a closed rectangle, is constructed for α > 1. If 0 < α < 1, the uniform asymptotic approximation is constructed as a zero and first approximation. The features of the asymptotic behavior are noted at α = 1. © 2014, Allerton Press, Inc.

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