Abstract. This study is devoted to the modeling and control of a 4-wheel, skid-steering mobile platform with coupled side wheels, subject to lateral and longitudinal slips. The dynamics equations of the platform are derived, and 16 variants of motion distinguished. For the variant of motion allowing for all possible slips of the wheels two control problems are addressed: the motion planning problem and the trajectory tracking problem. The former problem is solved by means of a Jacobian motion planning algorithm based on the Endogenous Configuration Space Approach and, complementarily, using the Optimal Control Approach. The Nonlinear Model Predictive Control is applied to the latter problem. Performance of these control algorithms is illustrated by a sort of the parking problem. Significant robustness of the predictive control algorithm against the model uncertainty is revealed.

Spinal cord injury (SCI) is considered as one of the most problematic neurological conditions requiring specialized clinical intervention. Taking into account that SCI is characterized by extensive loss of nerve cells, stem cell–based therapy seems to be a reasonable modern strategy to the treatment of SCI. The presented case report describes for the first time experimental treatment with the use of autologous adipose tissue–derived mesenchymal stem cells (ADSCs) of the chronic posttraumatic SCI in a domestic ferret patient with paresis of back legs. It should be noted that most reports in the available literature concern ADSC-based therapies for acute or subacute SCI treatment in other species. Application of ADSC-based therapy did not cause any adverse reactions and resulted in significant improvement of neurological and motor functions. Based on these outcomes, it may be concluded that this form of therapy is promising and may be potentially translated into clinical veterinary practice.

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