The paper considers a lightweight modified version of the YOLO-v5 neural network, which is used to recognize road scene objects in the task of controlling an unmanned vehicle. In the proposed model, the pooling layer is replaced by the ADown module in order to reduce the complexity of the model. The C2f module is added as a feature extraction module to improve accuracy by combining features. Experiments using snowy road scenes are presented and the effectiveness of the proposed model for object recognition is demonstrated.

Keywords: road scene object recognition, YOLOv5, Adown, C2f, deep learning, pooling layer, neural network, lightweight network, dataset

The modification of the most common steganography method for various container is presented. This modification allows to increase the resistance of steganography to the statistical analisys. A comparative analysis of the effect of the traditional LSB matching method and the proposed modification to the frequency histogram of sample values ​​in the container is presented.

Keywords: steganography, steganalysis, information security, embedded data transfer

A long term study of compensation converters allowed to solve the task of designing the structure, the calculation of its elements, the determination of static characteristics and energy performance. Thus remain undeveloped algorithms of their work to ensure a successful use of compensatory converters and independent control of active and reactive power consumption. An algorithm of their work to ensure the optimal use of compensatory converters. This article contains material from GC № 16.526.12.6016 11.10.2011.

Keywords: Site load electric network compensation converters; management algorithms ; controlled electric drive with compensation rectifier in section of the direct current of the converter of the frequency

The catalytic activity of Pt/C and PtxNi/C electrocatalysts prepared by  borohydride methode was studed. It was established that the specific activity  of fresh prepared Pt3,7Ni/C  catalyst  in oxygen  electroreduction  reaction is higher in compare with Pt/C material. After treatment of Pt3,7Ni/C material in the hot acid  nickel in the surface layers of nanoparticles was dissolved and the composition of nanoparticles was changed to Pt5,6Ni. The electrochemical surface area of the Pt5,6Ni catalyst and specific activity was slightly decreased after corrosion treatment. 

Keywords: platinum electrocatalysts, corrosion stability of the nanoparticles, fuel cells, X-ray diffraction, borohydride synthesis

ZnO nanorod arrays have been synthesized on silicon wafers by chemical vapor deposition (CVD) technique with different  temperature modes, without metal catalyst.  With this method   vertically aligned ZnO nanostructures  were grown at the quite low temperatures.  Modification of the method allowed to place silicon substrates in areas with different  ratios of concentrations of the molecules in the vapor phase. Photoluminescence spectroscopy and electron microscopy studies have shown that morphologies and optical properties of nanorods depends on different ratios of concentrations of the molecules in the vapor phase.

Keywords: ZnO nanorods,chemical vapor deposition (CVD), photoluminescence

The arrays of ZnO nanorods were obtained on the sapphire substrates by means of pulsed laser deposition under the high pressure of argon. The conditions of synthesis were optimized, and their influence on the morphology of  ZnO nanostructures were revealed. It is shown that the concentration of oxygen vacancies in ZnO nanorods can be changed by regulation of the synthesis temperature from 850 to 915 °. This process can be controlled by the ratio of intensities of the photoluminescence emission in the visible and ultraviolet regions. So, it allows to create nanostructures for UV photodetectors or chemosensors depending on the temperature choice.

Keywords: ZnO nanorods, laser deposition, PLD, photoluminescence

The main maintenance of a  results of calculation of a thermointense condition of beams depending on various ways of an attachment to the basis - jammed in the basis, with absolutely hard sealing-off on end faces and absence of any communications at end faces is considered. The analysis shows, that the more age of "blocks-communications", the more they possess rigidity. It means, that they are less pliable, and sizes of pressure in the settlement block are close to pressure in the block with the jammed end faces.  

Keywords: Termointense, concrete, block, communication, support, suppleness, pinched, temperature, movement

Photometric principles of measurements have found a wide recognition and a wide application in different fields of human activity. It is stipulated by the introduction of photogrammetric works of new technology for obtaining primary information about the locality. At present for obtaining high quality and highly exact airophotographic data digital wide format photographic cameras are used and photogrammetric processing of digital pictures is carried out at special digital photogrammetric work stations.
A great importance is attached to photogrammetric methods during the monitoring of lands for information providing of state realty cadastre. At present land state monitoring is a modern technical trend to provide this cadastre with the necessary graphic and digital documents.
Photographing of small territories (dacha settlements, agricultural buildings etc.), when the scale of airophotography is ten or more times less than the scale of map-making, is quite possible because the object can be photographed on two pictures that is to be located on one stereo pair. This article is devoted to photogrammetric processing of a single stereo pair. At this space facilities for positioning (GLONASS, GPS) secure the coordinates and altitudes of points of photographic. When space signals are properly synchronized with the work of the photograph camera shutter and careful determination of the elements of adjustment of space antenna to the relative centre of projection (s) of camera is carried out the coordinates of projection centres can be used as supporting geodetic points.
Point realization of the above-mentioned terms allows to decrease the number of supporting points necessary for outside orientation of model to one. It should be located at the end of stereo pair opposite its middle. While designing redundant supporting points (for control and improvement of exactness) they should be located in the corners of stereo pair.  

Keywords: photogrammetry, stereo pair, single model, conditions of complanarity and collinearity, elements of orientation, points for photographing, GLONASS, GPS, theory, algorithm.

In this paper we propose basic geometric, mass and electrical parameters of the element for collection of static electricity from the surface of the textile. This element is a reversible electrochemical charge storage system based on nanostructured nickel oxide and carbon cloth. Element has a planar structure, it is flexible, lightweight, safety and ergonomic. Proposed element can be used as a power source for the Microsystems technique in "smart clothes".

Keywords: "smart clothes", microsystems technique, static electricity, supercapacitor, composite material NiO/C

The short review of existing panoramic systems are given. The limits of such systems doesn't allow to form a panoramic video with dealing the parallax effect in real-time systems. The presented algorithm for forming a panoramic video is free of these disadvantages. An algorithm based on mathematical model of the round-view system that takes into account the location of cameras, their intrinsic parameters and model of the world. The algorithm includes following chain of coordinate transformation: from panoramic image coordinates to spherical coordinates and to Cartesian world coordinate system, from world coordinates to camera coordinate system and to input image coordinates. Geometric distortion of camera is dealt. Model of the world is represented as spherical and a hemispherical surfaces.

Keywords: panoramic image, round-view video system, camera model, camera distortion, parallax

Structure of  surface acoustic waves(SAW) of CO sensor was developed. SAW sensor include transceiving IDT and catoptric IDT, which is loaded on the impedance of ZnO nanorods. Peak of reflection SAW from IDT clearly observed as result Fourier transformation of time function of pulsed response. IDT loaded on resistance paralleled ZnO nanorods, which depends on the concentration of CO.

Keywords: ZnO nanorods, device on SAW, CO sensor

  The paper covers the development of geometry-based skeletal animation algorithms for deforming 3D models. Linear Blend Skinning technique being widely used, much attention is given to the method description and its shortcomings. The paper gives wide coverage to the state of the art in geometry-based skeletal animation algorithms. 

Keywords: skeletal animation, skinning, geometry-based algorithms, character animation

Combined method which allows analyzing parameters of the nanoscale atomic and electronic structure of materials relying on three different methods (x-ray absorption spectroscopy (XAFS), x-ray diffraction (XRD) and Raman spectroscopy) was developed. The method was applied for the study of nickel oxide nanoparticles, which serve as an efficient catalyst for the artificial photosynthesis process. 

Keywords: solar energy, artificial photosynthesis, NiO, Raman, x-ray diffraction, XAFS