The article considers the problem of navigating mobile robots and finding the best way to the goal in real-time in a space surrounded by unknown objects. The motor actions of the robot must be defined and adapted to changes in the environment. When using only laser scanners on mobile work, objects above or below the lasers' level will remain obstacles to the robot. Current algorithms and principles of navigation are considered. Extended the existing real-time interference detection system using lasers by (...) adding a camera that calculates the length of objects. The new system has been successfully implemented and tested in a mobile robot, ensuring the passage of the road providing collision-free paths. The obtained simulation results are presented in the article. The existing problems of navigation of mobile robots, which are moving in the particular area from their position to the specified destination on the map, were investigated. The current problem is the inability to spot objects that are not on the same level as the mobile robot's lasers. Moreover, the task is complicated when you need to recognize such objects while the robot is moving in real time. The current algorithms and principles of navigation given by previous research and publications are analyzed. As a result of the work, the existing system of recognition and avoidance of obstacles was expanded. Prior to that, the system used only odometry and information obtained from laser scanners, without obtaining data from other sources of environmental information. The idea of development was to use a camera, which was already part of the components of the researched mobile robot. It has become possible to generate a pointcloud relative to the environment, using a depth sensing camera to calculate the distance to objects. Because the density of the received data in the form of a pointcloud is too high for further processing, a downsample VoxelGrid filter was used, which reduces the density of the point cloud. VoxelGrid belongs to the PCL library. Another problem was the removal of information about unnecessary objects in the camera's field of view. These include the floor, ceiling, parts of the robot. The PassThrough filter from the PCL library was used to solve this problem. The next step is to process the filtered data using OctoMap. As a result, an octree is generated. A top-down projection is created from the octree generated in the previous step. The resulting projection must be processed and converted into polygonal obstacles. Only then they will be marked by teb_local_planner as obstacles. The developed system was successfully implemented and tested both in the Gazebo simulation and in the researche mobile robot. The path with obstacles will be completed without collisions. The paper presents the obtained test results. (shrink)

This paper considers the problems of the integration of independent manipulator control systems. Areas of control of the manipulator are: recognition of objects and obstacles, identification of objects to be grasped, determination of reliable positions by the grasping device, planning of movement of the manipulator to certain positions with avoidance of obstacles, and recognition of slipping or determination of reliable grasping. This issue is a current problem primarily in industry, general-purpose robots, and experimental robots. This paper considers current publications that (...) address these issues. Existing algorithms and approaches have been found in the management of both parts of the robot manipulator and solutions that combine several areas, or the integration of several existing approaches. There is a brief review of current literature and publications on the above algorithms and approaches. The advantages and disadvantages of the considered methods and approaches are determined. There are solutions that cover either some areas or only one of them, which does not meet the requirements of the problem. Using existing approaches, integration points of existing implementations are identified to get the best results. In the process, a system was developed that analyzes the environment, finds obstacles, objects for interaction, poses for grasping, plans the movement of the manipulator to a specific position, and ensures reliable grasping of the object. The next step was to test the system, test the performance, and adjust the parameters for the best results. The resulting system was developed by the research team of RT-Lions, Technik University, Reutlingen. The hardware research robot includes an Intel Realsense camera, a Sawyer Arm manipulator from Rethink Robotics, and an internally grabbing device. (shrink)

Russkai︠a︡ t︠erkovʹ i drugie statʹi -- V temnykh religioznykh luchakh.

Purpose. The article is aimed to substantiate the view on the phenomenon of laughter as a subject of semiotic analysis, which leads to the following tasks: to reveal the possibilities of semiotics application in the study of laughter nature; to analyze the phenomenon of laughter as a cultural and natural phenomenon, as a sign and as an attribute; to consider the place of laughter in culture, which is understood as a sign system. Theoretical basis. The semiotic approach proceeds from the (...) fact that human lives in the world of signs, all the surrounding reality can be interpreted as a sign system. The basic concept of semiotics is the concept of a sign. The theoretical basis of the article is understanding the culture as a sign-symbolic system. Laughter is considered as a phenomenon ontologically rooted in human culture. At the same time, laughter is on the edge of culture. The research is based on the work of semiotic authors, cultural researchers, and the researchers of laughter. Originality. The originality lies in the application of the semiotic method to the research of laughter phenomenon, consideration of the dialectics of natural and cultural, signedness and non-signedness, manifested in the phenomenon of laughter. Conclusions. Laughter is considered as a psychophysiological phenomenon and as a cultural phenomenon. Laughter acts as an emotional manifestation, a physiological reaction, but socially and culturally mediated. In any case, laughter indicates an emotional or cognitive state of a human. Laughter acts as a process and result of the interpretation of a sign, a reaction to a sign. Laughter is a form and a means of communication. Being a natural phenomenon, in the process of social evolution, laughter acquires signedness, is integrated by culture as a sign system, and, at the same time, maintains a connection with nature. Thus, laughter occupies an ambivalent position between nature and culture. In the phenomenon of laughter, the dual state of human is revealed. In laughter, boundaries are blurred, the unity and opposition of natural and cultural, biological and social, soul and body, thought and feeling, sign and attribute are manifested. (shrink)

If a formal theory T is able to reason about its own syntax, then the diagonalizable algebra of T is defined as its Lindenbaum sentence algebra endowed with a unary operator □ which sends a sentence φ to the sentence □φ asserting the provability of φ in T. We prove that the first order theories of diagonalizable algebras of a wide class of theories are undecidable and establish some related results.

This set reprints volumes that were orginally published by Routledge and Kegan Paul Ltd. in 1953. Landmark volumes at the time of their original publication, these titles do not merely expound the theoretical constructions of Russian philosophers, but also relate these constructions to the general conditions of Russian life. Volume One examines the historical conditions of the development of philosophy in Russia and explores the general features of Russian philosophy. It also surveys the principal works on the history of Russian (...) philosophy. Volume Two includes biographies and examination of the themes of the following philosophers; Vladimir Solovyov, V.D. Kudryavtsev, N.F. Fyodorov and Later Hegelians such as Chicherin, Debolski and Bakunin. This volume also provides analysis of various schools of thought in Russian philosophy in the twentieth century, for example; Neo-Leibzianism, Modern Positivism and New-Marxism to name but a few. (shrink)

My dear Aleksandr!I have finally found some quiet time for a slow and attentive read of your article “The Beginning of the Black Notebooks.”1 I very much liked the article, especially for your trul...

At almost every election, Americans are inclined to say that this is the most consequential election in American history. 2020 is no exception. However, what is particularly remarkable about the No...

In early 1864, disappointed by the response to his previous work, the young Manchester academic W. Stanley Jevons announced that he was undertaking a study of the so-called coal question: ‘A good publication on the subject would draw a good deal of attention … it is necessary for the present at any rate to write on popular subjects’. When Jevons's The Coal Question was published in April 1865, however, it received comparatively little attention and sales were slow. Jevons and his (...) publisher, Alexander Macmillan, then began sending complimentary copies to luminaries such as Sir John Herschel and Alfred Tennyson. In February 1866 the marketing campaign produced its first substantial return. Macmillan had sent CQ to William Gladstone who responded with letters to both Macmillan and Jevons, noting that the book had strengthened his ‘conviction’ on the necessity for reducing the National Debt. In April, John Stuart Mill praised CQ in the House of Commons, calling for action on the Debt and, three weeks later, as Chancellor of the Exchequer, Gladstone introduced the budget using half his speech to examine the Debt situation and referring to CQ in support for a proposed measure of Debt reduction. With the extensive publicity given to CQ following Mill's speech and the budget, Jevons had achieved his objective in writing the text which went into a second edition in 1866. On the face of it, CQ 's success was due to its effect of introducing a change in budget policy and this is the impression given by some accounts of the episode. (shrink)

В книге представлено понимание границ в психотерапии с позиций аналитической психологии. Для практикующих психологов и психотерапевтов, а также для студентов психологических вузов.

Исследование иллюстрируется примерами анализа самого современного искусства в сферах живописи, театра, кино, литературы.

Purpose. The knowledge influence analysis on the formation process of new anthropological images of man in the contexts of scientific achievements and innovative technologies is the basis of this study. It involves the solution of the following tasks: 1) explication of the ontological content of knowledge in the anthropo-cultural senses of the epoch; 2) analysis of the knowledge influence on the process of forming a new type of man; 3) characteristics of the modern anthropological situation in the context of digital (...) culture; 4) substantiation of interrelation of phatic communication with post-truth society in the dimensions of anthropo-social transformations of the present. Theoretical basis. Ontological content of knowledge determines the anthropo-cultural context of the epoch by forming a system of intellectual, value, social meanings of human life. The assertion of new anthropological types of man is caused by the changes in social and cultural space in the context of the growing influence of achievements in scientific knowledge and technology. Digital revolution as the process of expanding the possibilities of informational-digital reality, the substitution of knowledge for information gives rise to Homo digitalis – the digital man. He focuses on phatic communication, which in its intellectual meaninglessness is commensurate with the anthropological dimensions of post-truth society. Originality. It is substantiated that Homo digitalis is the result of a complex set of heterogeneous effects of scientific knowledge, which in modern post-truth conditions appears as different communicative practices. A condition for the formation of a new anthropological type of man in the perspective of scientific and technological progress is the affirmation of ethical wisdom. Conclusions. Knowledge in the process of evolution of socio-cultural life acquires constitutive significance for the process of formation of anthropological situations that manifest themselves in new images of man. Today, he is commensurate with the demands of digital culture, in which human life practices are increasingly becoming information and digital clusters embedded in the reality of a post-truth society. The means of overcoming the passivity of digital man is the formation of a new anthropological type based on a rethinking of the value system. (shrink)