In the article we solve path planning task for an agent being multirotor unmanned aerial vehicle (multicopter). We propose an approach of estimating path geometry constraints based on UAV flight...

The problem of the unmanned flight vehicle moving along the given route in a perturbed environment comes down to that of pursuing a target which simulates motion of the reference flight vehicle in compliance with its task. A scheme was proposed of a control system selecting the control strategy according to the current states of the flight vehicle and target. Consideration was given to the issues of the lead determination of the point of meeting of the flight vehicle with the target and rearrangement in the transfer functions of the equations of longitudinal and lateral motions of the flight vehicle in a restless tmosphere. The systems of automatic stabilization of the pitch and yaw angles with autopilot are used as the internal control loops. In the experimental part of the paper, the FV motion is modeled under the control constraints.

The increase in demand for rare earth metals and the depletion of natural resources inevitably causes the need to search for alternative unconventional sources of rare metal raw materials. The article presents the results of a study of the composition and properties of the beneficiation tailings of currently produced loparite ores. Sieve, mineralogical, chemical, and radionuclide analyses were carried out. The average content of loparite in tailings was determined. Using scanning electron microscopy, minerals-concentrators of rare earth elements in the loparite ore beneficiation tailings were diagnosed. The distribution of valuable components and thorium in the tailings was determined depending on the particle size class. The radium-thorium nature of radioactivity was established, the values of the effective specific activity of the samples were calculated. We concluded that it is necessary to develop an integrated technology for processing the beneficiation tailings of loparite ore, due to the complex and heterogeneous mineral and chemical composition of the tailings material.