{"id":1125,"date":"2025-03-09T15:59:32","date_gmt":"2025-03-09T15:59:32","guid":{"rendered":"http:\/\/newskbncran.ru\/?page_id=1125"},"modified":"2026-03-30T12:18:06","modified_gmt":"2026-03-30T11:18:06","slug":"26-6-6","status":"publish","type":"page","link":"https:\/\/izvestiyakbncran.ru\/index.php\/26-6-6\/","title":{"rendered":"26.6.6"},"content":{"rendered":"\n<h1 class=\"wp-block-heading\" style=\"font-size:24px\"><strong>\u041c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0430 \u043f\u0440\u0435\u0434\u043e\u0442\u0432\u0440\u0430\u0449\u0435\u043d\u0438\u044f \u0441\u0442\u043e\u043b\u043a\u043d\u043e\u0432\u0435\u043d\u0438\u0439 \u0432 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u043a\u043e\u043b\u043b\u0430\u0431\u043e\u0440\u0430\u0442\u0438\u0432\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\u043c\u0430\u0445<\/strong><\/h1>\n\n\n\n<p 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\u043f\u0440\u0435\u0434\u043e\u0442\u0432\u0440\u0430\u0449\u0435\u043d\u0438\u044f \u0441\u0442\u043e\u043b\u043a\u043d\u043e\u0432\u0435\u043d\u0438\u0439 \u0432 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u043a\u043e\u043b\u043b\u0430\u0431\u043e\u0440\u0430\u0442\u0438\u0432\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\u043c\u0430\u0445 \/\/ \u0418\u0437\u0432\u0435\u0441\u0442\u0438\u044f \u041a\u0430\u0431\u0430\u0440\u0434\u0438\u043d\u043e-\u0411\u0430\u043b\u043a\u0430\u0440\u0441\u043a\u043e\u0433\u043e \u043d\u0430\u0443\u0447\u043d\u043e\u0433\u043e \u0446\u0435\u043d\u0442\u0440\u0430 \u0420\u0410\u041d. 2024. \u0422. 26. \u2116 6. \u0421. 67\u201381. DOI: 10.35330\/1991-6639-2024-26-6-67-81<\/p>\n\n\n\n<details class=\"wp-block-details has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-8e3cf1fa8080ee7961100675a79e6bca is-layout-flow wp-container-core-details-is-layout-0ab540ad wp-block-details-is-layout-flow\" style=\"font-style:normal;font-weight:700;line-height:1.5\"><summary>\u0421\u043f\u0438\u0441\u043e\u043a \u043b\u0438\u0442\u0435\u0440\u0430\u0442\u0443\u0440\u044b<\/summary>\n<ol style=\"margin-top:0;margin-bottom:0\" class=\"wp-block-list\">\n<li style=\"font-style:normal;font-weight:400\"><em>Haddadin S., Croft E. <\/em>Physical human-robot interaction. Handbook of Robotics. Springer. Pp. 1835\u20131874. DOI: 10.1007\/978-3-319-32552-1_69<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Villani V., Pini F., Leali F., Secchi C. <\/em>Survey on human-robot collaboration in industrial settings: Safety, intuitive interfaces and applications. Mechatronics. 2018. Vol. 55. Pp. 248\u2013266. DOI: 10.1016\/j.mechatronics.2018.02.009<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Khatib O.<\/em> Real-time obstacle avoidance for manipulators and mobile robots. The International Journal of Robotics Research. 1986. Vol. 5(1). Pp. 90\u201398. DOI: 10.1109\/ROBOT.1985.1087247<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Siciliano B., Sciavicco L., Villani L., Oriolo G.<\/em> Force control. Springer: London. 2009. Pp. 363\u2013405.<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Rohmer E., Singh S.P.N., Freese M.<\/em> V-REP: A versatile and scalable robot simulation framework. 2013 IEEE\/RSJ international conference on intelligent robots and systems. 2013. Pp. 1321\u20131326. DOI: 10.1109\/IROS.2013.6696520<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Reinstein M., Hoffmann M. <\/em>Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive sensory information. IEEE Transactions on Robotics. 2012. Vol. 29(2). Pp. 563\u2013571. DOI: 10.1109\/TRO.2012.2228309<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Michel O., Rohrer B.<\/em> Webots: professional mobile robot simulation. International Journal of Advanced Robotic Systems. 2009. Vol. 5(3). Pp. 39\u201342. DOI: 10.5772\/5618<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Dellaert F., Fox D., Burgard W., Thrun S.<\/em> Monte Carlo localization for mobile robots. Proceedings 1999 IEEE international conference on robotics and automation. 1999. Pp. 1322\u20131328.<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Jiang Y., Yang C., Ju Z., Liu J.<\/em> Obstacle avoidance of a redundant robot using virtual force field and null space projection. Intelligent Robotics and Applications: XII International Conference, ICIRA. Springer. 2019. Pp. 728\u2013739. DOI: 10.1007\/978-3-030-27526-6_64<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Kim C.Y., Kim Y.H., Ra W.S. <\/em>Modified 1D virtual force field approach to moving obstacle avoidance for autonomous ground vehicles. Journal of Electrical Engineering &amp; Technology. 2019. Vol. 14. Pp. 1367\u20131374. DOI: 10.1007\/s42835-019-00127-8<\/li>\n\n\n\n<li style=\"font-style:normal;font-weight:400\"><em>Xu Q., Zhang T., Zhou K. et al. <\/em>Active collision Aaoidance for robotic Aam based on artificial potential field and deep reinforcement learning. Applied Sciences. 2024. Vol. 14(11). P. 4936. DOI: 10.3390\/app14114936<\/li>\n<\/ol>\n<\/details>\n\n\n\n<details class=\"wp-block-details has-foreground-color has-text-color has-link-color has-lora-font-family has-extra-small-font-size wp-elements-dba265ca3ab3dd9e07b782fbd7134520 is-layout-flow wp-container-core-details-is-layout-0ab540ad wp-block-details-is-layout-flow\" style=\"font-style:normal;font-weight:700;line-height:1.5\"><summary>\u0418\u043d\u0444\u043e\u0440\u043c\u0430\u0446\u0438\u044f \u043e\u0431 \u0430\u0432\u0442\u043e\u0440\u0430\u0445<\/summary>\n<div class=\"wp-block-group is-vertical is-layout-flex wp-container-core-group-is-layout-c915320e wp-block-group-is-layout-flex\" style=\"min-height:0px;margin-top:0;margin-bottom:0;padding-top:var(--wp--preset--spacing--20);padding-right:var(--wp--preset--spacing--40);padding-bottom:var(--wp--preset--spacing--20);padding-left:var(--wp--preset--spacing--40)\">\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><strong>\u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432 \u041c\u0430\u0434\u0438\u043d \u0410\u0440\u0442\u0443\u0440\u043e\u0432\u0438\u0447<\/strong>, \u043a\u0430\u043d. \u0442\u0435\u0445. \u043d\u0430\u0443\u043a, \u043c\u043b. \u043d\u0430\u0443\u0447. \u0441\u043e\u0442\u0440. \u0426\u0435\u043d\u0442\u0440\u0430 \u043a\u043e\u0433\u043d\u0438\u0442\u0438\u0432\u043d\u044b\u0445 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0439 \u0438 \u043c\u0430\u0448\u0438\u043d\u043d\u043e\u0433\u043e \u0437\u0440\u0435\u043d\u0438\u044f, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440., 1;<br>\u0441\u0442\u0430\u0440\u0448\u0438\u0439 \u043f\u0440\u0435\u043f\u043e\u0434\u0430\u0432\u0430\u0442\u0435\u043b\u044c \u043a\u0430\u0444\u0435\u0434\u0440\u044b \u0421\u041c7 \u00ab\u0420\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0438 \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0438\u043a\u0430\u00bb, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c. \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f \u0443\u043b\u0438\u0446\u0430, 5, \u043a\u043e\u0440\u043f. 1;<br>shereuzhev@bmstu.ru, ORCID: https:\/\/orcid.org\/0000-0003-2352-992\u0425, SPIN-\u043a\u043e\u0434: 1734-9056;<br><strong>\u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432 \u0414\u0435\u043d\u0438\u0441 \u0418\u0433\u043e\u0440\u0435\u0432\u0438\u0447<\/strong>, \u0438\u043d\u0436\u0435\u043d\u0435\u0440 \u0426\u0435\u043d\u0442\u0440\u0430 \u043a\u043e\u0433\u043d\u0438\u0442\u0438\u0432\u043d\u044b\u0445 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0439 \u0438 \u043c\u0430\u0448\u0438\u043d\u043d\u043e\u0433\u043e \u0437\u0440\u0435\u043d\u0438\u044f, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440., 1;<br>\u0430\u0441\u043f\u0438\u0440\u0430\u043d\u0442 \u043a\u0430\u0444\u0435\u0434\u0440\u044b \u0421\u041c7 \u00ab\u0420\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0438 \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0438\u043a\u0430\u00bb, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c. \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f \u0443\u043b\u0438\u0446\u0430, 5, \u043a\u043e\u0440\u043f. 1;<br>denisarabadzhiev13@gmail.com, SPIN-\u043a\u043e\u0434: 7438-1760<br><strong>\u0421\u0435\u043c\u044f\u043d\u043d\u0438\u043a\u043e\u0432 \u0418\u0432\u0430\u043d \u0412\u043b\u0430\u0434\u0438\u043c\u0438\u0440\u043e\u0432\u0438\u0447<\/strong>, \u0438\u043d\u0436\u0435\u043d\u0435\u0440 \u0441\u0442\u0443\u0434\u0435\u043d\u0447\u0435\u0441\u043a\u043e\u0433\u043e \u0431\u044e\u0440\u043e \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u043a\u0438, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u043e\u043b\u043e\u0433\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u00ab\u0421\u0422\u0410\u041d\u041a\u0418\u041d\u00bb;<br>127055, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, \u0412\u0430\u0434\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u043f\u0435\u0440., 1;<br>\u043c\u0430\u0433\u0438\u0441\u0442\u0440\u0430\u043d\u0442 \u043a\u0430\u0444\u0435\u0434\u0440\u044b \u0421\u041c7 \u00ab\u0420\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0435 \u0441\u0438\u0441\u0442\u0435\u043c\u044b \u0438 \u043c\u0435\u0445\u0430\u0442\u0440\u043e\u043d\u0438\u043a\u0430\u00bb, \u041c\u043e\u0441\u043a\u043e\u0432\u0441\u043a\u0438\u0439 \u0433\u043e\u0441\u0443\u0434\u0430\u0440\u0441\u0442\u0432\u0435\u043d\u043d\u044b\u0439 \u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0439 \u0443\u043d\u0438\u0432\u0435\u0440\u0441\u0438\u0442\u0435\u0442 \u0438\u043c. \u041d. \u042d. \u0411\u0430\u0443\u043c\u0430\u043d\u0430;<br>105005, \u0420\u043e\u0441\u0441\u0438\u044f, \u041c\u043e\u0441\u043a\u0432\u0430, 2-\u044f \u0411\u0430\u0443\u043c\u0430\u043d\u0441\u043a\u0430\u044f \u0443\u043b\u0438\u0446\u0430, 5, \u043a\u043e\u0440\u043f. 1;<br>semyannikoviv@student.bmstu.ru<\/p>\n\n\n\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><\/p>\n\n\n\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><\/p>\n\n\n\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><\/p>\n\n\n\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><\/p>\n\n\n\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><\/p>\n\n\n\n<p class=\"wp-container-content-9cfa9a5a\" style=\"font-style:normal;font-weight:400\"><\/p>\n<\/div>\n<\/details>\n","protected":false},"excerpt":{"rendered":"<p>\u041c\u043e\u0434\u0435\u043b\u0438\u0440\u043e\u0432\u0430\u043d\u0438\u0435 \u0430\u043b\u0433\u043e\u0440\u0438\u0442\u043c\u0430 \u043f\u0440\u0435\u0434\u043e\u0442\u0432\u0440\u0430\u0449\u0435\u043d\u0438\u044f \u0441\u0442\u043e\u043b\u043a\u043d\u043e\u0432\u0435\u043d\u0438\u0439 \u0432 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u0447\u0435\u0441\u043a\u0438\u0445 \u043a\u043e\u043b\u043b\u0430\u0431\u043e\u0440\u0430\u0442\u0438\u0432\u043d\u044b\u0445 \u0441\u0438\u0441\u0442\u0435\u043c\u0430\u0445 \u041c.&nbsp;\u0410. \u0428\u0435\u0440\u0435\u0443\u0436\u0435\u0432, \u0414.&nbsp;\u0418. \u0410\u0440\u0430\u0431\u0430\u0434\u0436\u0438\u0435\u0432, \u0418.&nbsp;\u0412. \u0421\u0435\u043c\u044f\u043d\u043d\u0438\u043a\u043e\u0432 \u0417\u0430\u0433\u0440\u0443\u0437\u0438\u0442\u044c \u043f\u043e\u043b\u043d\u044b\u0439 \u0442\u0435\u043a\u0441\u0442 \u0410\u043d\u043d\u043e\u0442\u0430\u0446\u0438\u044f: \u0412 \u0441\u043e\u0432\u0440\u0435\u043c\u0435\u043d\u043d\u043e\u0439 \u043a\u043e\u043b\u043b\u0430\u0431\u043e\u0440\u0430\u0442\u0438\u0432\u043d\u043e\u0439 \u0438 \u043f\u0440\u043e\u043c\u044b\u0448\u043b\u0435\u043d\u043d\u043e\u0439 \u0440\u043e\u0431\u043e\u0442\u043e\u0442\u0435\u0445\u043d\u0438\u043a\u0435 \u0432\u043e\u043f\u0440\u043e\u0441 \u0431\u0435\u0437\u043e\u043f\u0430\u0441\u043d\u043e\u0441\u0442\u0438 \u0432\u0437\u0430\u0438\u043c\u043e\u0434\u0435\u0439\u0441\u0442\u0432\u0438\u044f \u0447\u0435\u043b\u043e\u0432\u0435\u043a\u0430 \u0438 \u0440\u043e\u0431\u043e\u0442\u0430 \u044f\u0432\u043b\u044f\u0435\u0442\u0441\u044f \u043e\u0434\u043d\u0438\u043c \u0438\u0437 \u043e\u0441\u043d\u043e\u0432\u043e\u043f\u043e\u043b\u0430\u0433\u0430\u044e\u0449\u0438\u0445. \u0412\u0432\u0438\u0434\u0443 \u0431\u043e\u043b\u044c\u0448\u0438\u0445 \u043c\u043e\u043c\u0435\u043d\u0442\u043e\u0432 \u0441\u0438\u043b \u0438 \u0432\u044b\u0441\u043e\u043a\u0438\u0445 \u0441\u043a\u043e\u0440\u043e\u0441\u0442\u043d\u044b\u0445 \u0440\u0435\u0436\u0438\u043c\u043e\u0432 \u0440\u0430\u0431\u043e\u0442\u044b \u0441\u0442\u043e\u043b\u043a\u043d\u043e\u0432\u0435\u043d\u0438\u0435 \u043c\u0430\u043d\u0438\u043f\u0443\u043b\u044f\u0442\u043e\u0440\u0430 \u0438 \u043e\u043f\u0435\u0440\u0430\u0442\u043e\u0440\u0430 \u0447\u0430\u0441\u0442\u043e \u043f\u0440\u0438\u0432\u043e\u0434\u0438\u0442 \u043a \u0440\u0430\u043d\u0435\u043d\u0438\u044e \u0447\u0435\u043b\u043e\u0432\u0435\u043a\u0430. \u0426\u0435\u043b\u044c \u0440\u0430\u0431\u043e\u0442\u044b \u2013 [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-1125","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v27.4 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>26.6.6 - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e \u0426\u0415\u041d\u0422\u0420\u0410 \u0420\u0410\u041d\u00bb<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/izvestiyakbncran.ru\/index.php\/26-6-6\/\" \/>\n<meta property=\"og:locale\" content=\"ru_RU\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"26.6.6 - \u0418\u0417\u0412\u0415\u0421\u0422\u0418\u042f \u041a\u0410\u0411\u0410\u0420\u0414\u0418\u041d\u041e-\u0411\u0410\u041b\u041a\u0410\u0420\u0421\u041a\u041e\u0413\u041e \u041d\u0410\u0423\u0427\u041d\u041e\u0413\u041e 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