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The problem of monitoring maternal and fetal health and developing devices for 24-hour monitoring is topical at the moment taking into account a reduction in the level of fertile-age women's health and changes in the concept of perinatal medicine with reconsideration of live birth criteria. Such devices will allow significantly reducing the antenatal fetal mortality rate due to continuous monitoring over the state of fetus regardless of mother's location. The goal of this article is performing an analytical review of existing methods used to assess the state of the fetal cardiovascular system in order to reveal their benefits and drawbacks. Speaking about existing methods used to assess the state of the fetal cardiovascular system, it is possible to single out auscultation, fetal electrocardiography, cardiotocography (the current gold standard), magnetocardiography and phonocardiography. Among all the existing methods assessing the state of fetus based on the cardiac rhythm, only fetal electrocardiography and cardiotocography are realized in the form of portable 24-hour monitoring devices. These devices have certain drawbacks. In the authors' opinion, the most promising method for 24-hour fetal monitoring based on the cardiac rhythm is phonocardiography. When introducing this method into medical practice, it is necessary to solve the task of receive stable signals in case of various types of fetal presentation and mother's anthropometric data.

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This study aimed to develop a method allowing to improve safety of use of robotic medical rehabilitation devices by designing and testing an algorithm for calculation of the angular positions of rehabilitation robotic manipulators or robotic prostheses and allowing to reproduce the natural arc of a human arm under control of a CVS. The Introduction section supports the urgency of development of the methods granting control over positioning of robotic manipulators with the help of a computer vision system (CVS) and thus guarantee safety of patients and medical personnel in the context of work with medical robotic rehabilitation devices. The Materials and Methods section contains a brief description of the robotic arm used in this study, a description of the existing approaches to calculation of angular positions of drives, and a description of the proposed algorithm. The final sections compare application of the proposed algorithm and existing methods of calculation of angular positions of drives of robotic manipulators (robotic prostheses) and outline the possible directions for further improvement.

The article describes a mathematical model of physiological heart sounds created with due account for the pseudorandom generation parameters of component harmonic. The model uses the sine-cosine Fourier transform with probabilistic elements that are included to impart stochastic properties. These elements determine the frequency, origination time, life cycle and amplitude of harmonics. It allows synthesizing a phonocardiogram that quite accurately reflects the individual features of heart sounds within every systolic cycle. The article describes the spectral differences of reference and synthesized signals. In the authors’ opinion, these differences are conditional to distortions typical of the traditional microphone-based sensors.

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Biped walking implies a multitude of cyclically moving body segments and requires corresponding adjustment and coordinated movement of these segments to ensure smooth motion and balance maintenance – a challenging task considering technical limitations of currently existing robotic platforms. The article describes the implementation of the real-time dynamic walking of the AR-600 anthropomorphic robotic platform produced by JSC NPO Androidnaya Tekhnika (Magnitogorsk, Russia). The robot was controlled employing the software developed by the authors and motions were simulated in the 3DLK specialized simulation environment (JSC NPO Androidnaya Tekhnika). The authors studied various walking trajectories and confirmed the validity of this algorithm and related software for implementing biped robot locomotion.