Specialized robots are occupying a vast share of researches worldwide. In terms of aerial specialized robots, autonomy is the one of the major subjects that are being studied. As  known, flight autonomy is consisting of three parts: Mission planning, trajectory generation and path tracking. While it exists variety of local and global generation algorithm, UAV path planning is always associated with machine vision. This intellectual approach is solid because it can give a dual supervision link to the situation being surveyed. The operator has always the authority to step in and stop any unwanted action. The machine vision based algorithm has a huge disadvantage due to homogeneity and identity factors. This is because from distance object tend to look the same geometrically as well as color wise. In this paper we offer a solution to tackle the homogeneity problem between tracked agents which can cause local minimum problems. The UAV will forecast the next position of the tracked agent using Artificial Neural Networks. Position estimation is based on registered previous coefficient.

Keywords: position prediction, path planning, quadrotor, neural networks

This article discusses the emergence Chaharbag in different places of the world and the role Chaharbag in development of landscape architecture and urban spaces of identity, as well as its influence on other arts including painting and carpet. Chahar Bagh is a special style layout, which is used in the Persian garden. Rectangular in plan shared garden paths or channels with flowing water into four smaller parts. In Persian, "Chahar" means "four" and "Bag" is translated as "garden".

Keywords: Chaharbagh, garden, Persian garden and landscape.

The combination of the unique, abnormal properties shown by oxidic systems with structure of spinel on the basis of transitional elements chromites draws attention of researchers for many years. Some systems on the basis of transitional elements chromites (for example, nickel and copper chromites) have critical elements (multicritical points, lines of phase transitions of the second sort, etc.) on the phase chart. Near these elements of the phase chart materials possess unique chemical and physical properties. Therefore development methods of receiving and research of phase forming and properties in NIO-CoO-CuO-Cr2O3 system represent fundamental and practical interest for chemistry and technology of inorganic substances. In this work processes of spinel structure formation in system 0,6 NiCr2O4 – 0,2 CoCr2O4 – 0,2 CuCr2O4 from crystal chemistry positions are considered. Formation of two solid solutions on the basis of nickel (II) chromite – with structure of cubic spinel and with tetragonal distorted structure is established. The influence of cooperative Yahn-Teller effect on processes of a spinel forming and on stabilizing impact of chloride of potassium on process of education of  two spinel solid solutions is suggested. Influence of a power factor of cation stabilization in knots of a crystal lattice as one of the important factor in reaction of spinel structure formation is considered.

Keywords: spinels, chromites of transitional elements, Jahn-Teller effect

Possibility of using of a phosphate for receiving lime which can be used further as a sorbent of oxides of sulfur in coppers with technology of the circulating boiling layer, applied on coal thermal power plants is considered.

Keywords: enterprises of power industry, phosphogypsum, with CFB boilers - circulating boiling layer, pollution of the atmosphere, sulphur dioxide, secondary resources, sulfuric acid

The paper is devoted with the analysis of sources and volumes of oil components’ input into the Black sea. The topicality of this problem is connected with of transboundary the status of water object that contributes to the complexity of such works. Black Sea has important significance for transport and development in the coastal zone of the oil complex, combined with a great recreational potential. As a result, ecosystems are technogenic impact. The paper describes the main natural and anthropogenic sources of oil components in the Black Sea. On the basis of the results of our expeditionary research and analysis of sources of pollutant concluded chronic character oil pollution of the Black Sea. And the conclusion that the most optimistic estimates, entrance of oil components in the ecosystem in the Black Sea is approximately 270 thousand tons per year, which is higher than the currently accepted values of 2−2.5 times. 

Keywords: sources, volumes, oil components, the Black Sea, hydrocarbons

Dynamic changes of conditions of the business require the development of appropriate instruments at the present stage to support entrepreneurship. The article deals the analysis of adaptability as systemic characteristics of the object of management, and proposes a model of adaptive infrastructure of support of small and medium enterprises.

Keywords: adaptability infrastructure to support small and medium business, public Association of entrepreneurs, small and medium business

In this paper, based on Darcy equations that govern the lubricant in porous layers , and the modified Reynolds equation in the framework of a short bearing solve the problem of unsteady motion of a viscous incompressible lubricant in the bearing clearance double-layer porous . Here we consider the case when the permeability in porous layers in the axial direction is changed by the normal law , and the combined feed lubrication is performed simultaneously in the axial and perpendicular to the bearing axis directions. As a result, the pressure field found in porous layers and in the lubricating layer and analytical dependences for the efforts of the oil film . Compiled by the equation of motion tongue and solved the problem of the stability of the unsteady motion of a pin bearing , found that in the case of a combined bearing lubrication working more steadily compared with the cases or axial directions perpendicular to the axis lubrication . The results obtained can be offered for the development of cylindrical dampers with double-layer porous collar , effectively attenuating transmitted force imbalance in the combined feed lubrication.

Keywords: two-layer porous plug; permeability porous layers, load capacity; equation of motion of the stud; stability

The article examines the cognitive and behavioral components of group attitudes toward political order of students of DGTU.  Pilot study took place in 2013 and was carried out using questionnaires, which was attended by 52 people. The analysis represents a hierarchical clustering on the basis of consecutive factorization. It is received, group level of a relative deprivation – 0,46. In assessing deprivation group decomposed into two subgroups, with average values in each - 0.3 and 0.6. Perceptions of political order at the cognitive level:  -0,174 for local government and-0,139 for Russia. In perception of local government the group broke into two subgroups: -0,3 and 0,2. Behavioral component perception of political order defined by two subfactor: active behavioral level - 0.39, and the estimated level of oppositional behavior - 0.57.

Keywords: group settings, the affective component, a behavioral component, cognitive component, relative deprivation, questioning, political attitudes, factor analysis

In the autumn of 2013 a pilot survey was conducted among students DSTU, which was attended by 52 respondents. Purpose - to reveal emotional perception of the students of local and central political government by the method of semantic differential. The paper presents a psychosemantic phenomenological model processing of survey results by the method of semantic differential. On average semantic portraits are calculated relative distances between the group images of real political order and the images of the ideal constructs. Phenomenological parameters are determined by them and calculated the required level of group emotional perception of a political order. Calculations group levels of emotional perception of the political order showed similar results as the linear approximation: -0.015 for Region and for Russia as a whole -0.033. Shown, the model allows to determine not only the group levels of perception, but also to build the surface of the stationary states. This surface describes the behavior the level of perception associated with a quasistatic change of phenomenological parameters caused by external conditions. Images of perception of real political orders are in quiet area. At quasistatic variations of external conditions it is necessary to expect little smooth changes of level of perception.

Keywords: political order, semantic differential, questioning, catastrophe theory, psychosemantic phenomenological modeling

Nanotechnology is a technological breakthrough in agriculture, have great potential because they allow you to combine economic efficiency and natural ingredients to solve many problems in agriculture. To achieve high efficiency in agricultural production in recent years, using new agrobionanotehnologies. Authors of this article is working on the development of environmentally safe (nano) technology treatment of seeds of different crops using multi multifunctional biologically active (nano) chips. The obtained test results allow us to conclude about the prospect of being developed (nano) technology pre-sowing treatment and training opportunities 1-2 applications for patents on new research conducted in the development of the developed concept of «non-pesticidal agricultural products.

Keywords: agrobionanotehnologies, (nano) chips, pre-sowing seed, sowing qualities

In article fundamental criteria of rationality and efficiency are considered. The analysis of a condition of nature economic activity of the Voronezh area  by three main criteria is carried out. These criteria are opened and analysed, their system decisions are proved.

Keywords: criteria of efficiency and rationality, system of complex interaction, economic, social and ecological criteria, complex communication.

The article deals with development of hydropower in the Altai region. Indicates the need for widespread adoption in the economic practice of farms renewable energy. Provides information about the basic types of equipment of small hydro power plants. Analyzes the main problems encountered during the construction and operation of small hydroelectric power plants. In this time have a potential for the construction of small hydroelectric power stations for the needs of farms in the area of the foothill zone of the Altai Territory. It is noted that the implementation of such a project is possible only at the state level, because of the large amount of necessary investments. As a priority area of hydropower development for the needs of farms Altai proposed project of building 26 small hydro power plants on the rivers Charysh, Anouilh and Peschanaya. Indicated that the project could provide more than 95% of the needs of agriculture in the region's electricity . According to the analysis of the above issues,we can the following conclusions: (1) small hydropower plants are spent in terms of technology and affordable source of renewable energy, and (2) is now possible to create a sufficiently large hydroelectric complexes of low power, the ability to make a significant contribution to the region's energy supply structure and (3) the market has a large number of manufacturers of equipment for hydroelectric small power, including and domestic enterprises, which allows to put into practice projects by individual energy supply, without any technical difficulties, (4) the high priority in the development of small hydro power plants, in relation to the needs of the agriculture of the Altai Territory is to create a pool of 26 small hydro power plants on the rivers Charysh, Anouilh and Peschanaya with a total installed capacity of 404 MW, with an annual production volume of 1540 million kWh of electricity per year, and (5) small hydropower plants are a priority of energy supply based on renewable energy sources of agrarian industry in the foothills southeast of Altai Territory.

Keywords: hidroenergy, renewable energy, energy-saving technology, aricultural region

The need for specialists who know the basics of engineering creativity and practical skills of invention and the feasibility of using this methodology for functional and technological analysis. The results of the use of the said methodology in Petrozavodsk state University.

Keywords: analysis and synthesis, methodology, technology patentable subject matter

The article suggests technique of optimization of tree cutting and skidding process via felling-skidding machines and felling-skidding-processing machines. The realization of this technique will allow reducing of time costs and raising of machine efficiency taking into account accessibility of stand cutting, relief features and technological working conditions.

Keywords: integrated machine, cutting, tree, timber harvesting, skidding.

Maximum power pointtracking algorithms are widely used in the solar converters in order to obtain maximum power from the solar array. The article provides a brief description of the work of these algorithms, description of the method of testing based on mathematical modeling using Matlab, Simulink and SimScape packages. The results of modeling and comparative analysis  of the studied algorithms, its  strengths and weaknesses revealed.

Keywords: maximum power point, maximum power point tracker, photovoltaic, buck converter, comparative study of algorithms, perturb and observe method, constant voltage method, constant current method, icremental conductance method