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K.V. Anisimov · A.V. Dub
S.K. Kolpakov · A.V. Lisitsa
A.N. Petrov · V.P. Polukarov
O.S. Popel · V.A. Vinokurov Editors

Proceedings of the
Scientific-Practical
Conference "Research
and Development -
2016"
Proceedings of the Scientific-Practical Conference
“Research and Development - 2016”
K.V. Anisimov A.V. Dub•

S.K. Kolpakov A.V. Lisitsa

•

A.N. Petrov V.P. Polukarov

•

O.S. Popel V.A. Vinokurov

•

Editors

Proceedings
of the Scientific-Practical
Conference “Research
and Development - 2016”
14–15 December 2016 Moscow, Russia
Editors
K.V. Anisimov A.N. Petrov
GmbH RusOnyx Directorate of Scientific-Technical Programs
Moscow Moscow
Russia Russia

A.V. Dub V.P. Polukarov

JSC Science and Innovations JSC Military-engineering Corporation
Moscow Korolev, The Moscow Area
Russia Russia

S.K. Kolpakov O.S. Popel

JSC Interdepartmental analytical Center Joint Institute for High Temperatures
Moscow Russian Academy of Sciences
Russia Moscow
Russia
A.V. Lisitsa
Orekhovich Institute of Biomedical Chemistry V.A. Vinokurov
Moscow Gubkin Russian State University of Oil and Gas
Russia Moscow
Russia

The Compiler of this Book and financial Support for Publishing is NTF-National Training Foundation
123022, Moscow, Russia, 1905 Goda st., 7, bld. 1
Phones: +7 (495) 274-03-90/91/92
Fax: +7 (495) 665-40-75
http://www.ntf.ru
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https://doi.org/10.1007/978-3-319-62870-7
Library of Congress Control Number: 2017947836

© The Editor(s) (if applicable) and The Author(s) 2018. This book is an open access publication.
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Composition of the Editorial Board

K.V. Anisimov, General Director, GmbH RusOnyx

A.V. Dub, First Deputy Chief, JSC Science and Innovations, Professor, Doctor
of Science
S.K. Kolpakov, Chief Researcher, JSC Interdepartmental analytical Center
A.V. Lisitsa, Director, Orekhovich Institute of Biomedical Chemistry, Full Member
of Russian Academy of Sciences, Doctor of Science
A.N. Petrov, General Director, Directorate of Scientific-Technical Programs
V.P. Polukarov, Deputy General Director, JSC “Military-Engineering Corporation”
O.S. Popel, Deputy Director for Science, Joint Institute for High Temperatures,
Russian Academy of Sciences, Professor
V.A. Vinokurov, Head of the Department, Gubkin Russian State University of Oil
and Gas (National Research University), Professor, Doctor of Science

v
Foreword

Dear ladies and gentlemen!

The central goal of the government is to develop
applied and experimental research aimed at
producing advanced cross-sectoral technologi-
cal advances in priority areas. The Ministry of
Education and Science of the Russian
Federation is making considerable efforts to
support staff at research and educational insti-
tutions and personnel at manufacturing com-
pany's R&D Units at all levels of their careers.
One of the tools of this support is the Federal
Targeted Programme “Research and
Development in Priority Areas of Development
of the Russian Scientific and Technological
Complex for 2014–2020.” This programme
focusses on research that will lead to the devel-
opment products in priority areas of the Russian
economy and facilitate its competitiveness.
The research-to-practice conference “Research and development 2016” was held
in Moscow on December 14 and 15. This conference, which was dedicated to applied
and experimental research conducted in priority areas of development, discussed the
results of the institutions’ and scientists’ research activities in high-tech industry and
outlined innovative research trends in cross-disciplinary areas.
The articles published in this collection reflect the key findings that are of
laboratory character at present, but will become a part of corporate life in the future.
I firmly believe that they will be of interest for researchers as well as the research

vii
viii Foreword

and business community as a source of valuable information on the development of

applied science in Russia.
On behalf of the Ministry of Education and Science of the Russian Federation

Grigoriy V. Trubnikov
Deputy Minister of Education
and Science of the Russian Federation
Contents

Part I Computer Science

Multimodal Control System of Active Lower Limb
Exoskeleton with Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
S.A. Mineev
Investigation and Development of Methods for Improving
Robustness of Automatic Speech Recognition Algorithms
in Complex Acoustic Environments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
M.L. Korenevsky, Yu.N. Matveev and A.V. Yakovlev
Smart Endoscope—Firmware Complex for Real-Time
Analysis and Recognition of Endoscopic Videos . . . . . . . . . . . . . . . . . . . . 21
K.U. Erendgenova, E.D. Fedorov, R.M. Kadushnikov, O.A. Kulagina,
V.V. Mizgulin, D.I. Starodubov and S.I. Studenok
The Development of Constructive-Technological Decisions
on Creation of a Family of Microelectronic Elements on the «Silicon
on Insulator» (SOI) Structures to Provide the Ability to Create
Sensors of External Influences of a Various Functional Purpose . . . . . . 31
M.I. Kakoulin, A.V. Leonov, A.A. Malykh,
V.N. Mordkovich, A.B. Odnolko and M.I. Pavlyuk
Thermopile IR Sensor Arrays . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
V.A. Fedirko, E.A. Fetisov, R.Z. Khafizov,
G.A. Rudakov and A.A. Sigarev
Development Signal Processing Integrated Circuit
for Position Sensors with High Resolution . . . . . . . . . . . . . . . . . . . . . . . . 49
G.V. Prokofiev, K.N. Bolshakov and V.G. Stakhin

ix
x Contents

Brain-Controlled Biometric Signals Employed

to Operate External Technical Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Vasily I. Mironov, Sergey A. Lobov, Innokentiy A. Kastalskiy,
Susanna Y. Gordleeva, Alexey S. Pimashkin, Nadezhda P. Krilova,
Kseniya V. Volkova, Alexey E. Ossadtchi and Victor B. Kazantsev
Improving Talent Management with Automated Competence
Assessment: Research Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
N.S. Nikitinsky
Educational Potential of Quantum Cryptography
and Its Experimental Modular Realization . . . . . . . . . . . . . . . . . . . . . . . . 83
A.K. Fedorov, A.A. Kanapin, V.L. Kurochkin, Yu.V. Kurochkin,
A.V. Losev, A.V. Miller, I.O. Pashinskiy,
V.E. Rodimin and A.S. Sokolov
Interactive Visualization of Non-formalized Data Extracted
from News Feeds: Approaches and Perspectives . . . . . . . . . . . . . . . . . . . 93
D.A. Kormalev, E.P. Kurshev, A.N. Vinogradov,
S.A. Belov and S.V. Paramonov
Development of Pulsed Solid-State Generators of Millimeter
and Submillimeter Wavelengths Based on Multilayer
GaAs/AlGaAs Heterostructures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
V.A. Gergel, N.M. Gorshkova, R.A. Khabibullin, P.P. Maltsev,
V.S. Minkin, S.A. Nikitov, A.Yu. Pavlov, V.V. Pavlovskiy and
A.A. Trofimov
Asymmetric Magnetoimpedance in Bimagnetic
Multilayered Film Structures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
A.S. Antonov and N.A. Buznikov
The Model of the Cybernetic Network and Its Realization
on the Cluster of Universal and Graphic Processors . . . . . . . . . . . . . . . . 117
A.E. Krasnov, A.A. Kalachev, E.N. Nadezhdin,
D.N. Nikolskii and D.S. Repin
Autonomous Mobile Robotic System for Coastal Monitoring
and Forecasting Marine Natural Disasters . . . . . . . . . . . . . . . . . . . . . . . . 129
V.V. Belyakov, P.O. Beresnev, D.V. Zeziulin, A.A. Kurkin,
O.E. Kurkina, V.D. Kuzin, V.S. Makarov, P.P. Pronin,
D.Yu. Tyugin and V.I. Filatov
On Creation of Highly Efficient Micro-Hydraulic Power Plants
of Pontoon Modular Design in Conditions of Super-Low Flow
Parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
A.V. Volkov, A.A. Vikhlyantsev, A.A. Druzhinin,
A.G. Parygin and A.V. Ryzhenkov
Contents xi

Development of Scientific and Technical Solutions to Create

Hybrid Power Source Based on Solid Oxide Fuel Cells
and Power Storage System for Responsible Consumers . . . . . . . . . . . . . . 149
A.I. Chivenkov, E.V. Kryukov, A.B. Loskutov and E.N. Sosnina
Automated Control Unit of Power Flow in Intellectual
Electricity Distribution Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
M.G. Astashev, D.I. Panfilov, P.A. Rashitov,
A.N. Rozhkov and D.A. Seregin
The Partial Replacement of Diesel Fuel in Hot Water Boiler with
Syngas Obtained by Thermal Conversion of Wood Waste . . . . . . . . . . . 165
O.M. Larina, V.A. Lavrenov and V.M. Zaitchenko
The Experimental Research on Independent Starting and
Autonomous Operation of HDTB Considered as a Basic Block
of AES Based on Supercritical Hydrothermal Destruction . . . . . . . . . . . 171
A.D. Vedenin, V.S. Grigoryev, Ya.P. Lobatchevskiy,
A.I. Nikolaev, G.S. Savelyev and A.V. Strelets
Development of a Multifunctional All-Terrain Vehicle Equipped
with Intelligent Wheel-Drive System for Providing Increased
Level of Energy Efficiency and Improved Fuel Economy . . . . . . . . . . . . 179
V.V. Belyakov, P.O. Beresnev, D.V. Zeziulin,
A.A. Kurkin, V.S. Makarov and V.I. Filatov
Development and Implementation of an Integrated Approach
to Improving the Operating Cycle and Design
of an Energy-Efficient Forced Diesel Engine . . . . . . . . . . . . . . . . . . . . . . . 189
K.V. Gavrilov, V.G. Kamaltdinov, N.A. Khozeniuk,
E.A. Lazarev and Y.V. Rozhdestvensky
The Development of the New Type Universal Collective Survival
Craft with Unmanned Control Function for Evacuation of Personnel
in Emergency Situations of Natural and Technogenic Character
on the Arctic Shelf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
I.A. Vasilyev, R.A. Dorofeev, J.V. Korushova, A.A. Koshurina
and M.S. Krasheninnikov
Development of Active Safety Software of Road Freight Transport,
Aimed at Improving Inter-City Road Safety, Based on Stereo Vision
Technologies and Road Scene Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
V.E. Prun, V.V. Postnikov, R.N. Sadekov and D.L. Sholomov
Analysis of the Stress State in Steel Components Using
Portable X-Ray Diffraction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
S.A. Nikulin, S.L. Shitkin, A.B. Rozhnov, S.O. Rogachev
and T.A. Nechaykina
xii Contents

The VLSI High-Level Synthesis for Building Onboard

Spacecraft Control Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
O.V. Nepomnyashchiy, I.V. Ryjenko, V.V. Shaydurov,
N.Y. Sirotinina and A.I. Postnikov
A Concept of Robotic System with Force-Controlled Manipulators
for On-Orbit Servicing Spacecraft . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239
I. Dalyaev, V. Titov and I. Shardyko
Development of Microlinear Piezo-Drives for
Spacecraft Actuators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
A.V. Azin, S.V. Rikkonen, S.V. Ponomarev and A.M. Khramtsov
Design of Dynamic Scale Model of Long Endurance
Unmanned Aerial Vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255
V.S. Fedotov, A.V. Gomzin and I.I. Salavatov
Features of the Development of Regional Transport Models . . . . . . . . . . 263
P.V. Loginov, A.N. Zatsepin and V.A. Pavlov

Part II NanoScience and NanoTechnology

The Influence of AlGaN Barrier-Layer Thickness on the GaN HEMT
Parameters for Space Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273
A.G. Gudkov, V.D. Shashurin, V.N. Vyuginov, V.G. Tikhomirov,
S.I. Vidyakin, S.V. Agasieva, E.N. Gorlacheva and S.V. Chizhikov
Application of Volume-Surface Hardening by High-Speed Water Flow
for Improving Static and Cyclic Strength of Large-Scale Castings
from Low-Carbon Steel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
S.A. Nikulin, A.B. Rozhnov, T.A. Nechaykina, V.I. Anikeenko,
V.Yu. Turilina and S.O. Rogachev
Thermotropic Gel-Forming and Sol-Forming Systems
for Enhanced Oil Recovery and Technologies of Their Joint
Application with Thermal Methods for Oil Production . . . . . . . . . . . . . . 287
L.K. Altunina and V.A. Kuvshinov
The Mixture of Fatty Acids Conversion into Hydrocarbons
Over Original Pt-Sn/Al2O3 Catalyst. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297
A.E. Gekhman, A.V. Chistyakov, M.V. Tsodikov,
P.A. Zharova, S.S. Shapovalov and A.A. Pasynskii
Beneficiation of Heat-Treated Crushed Brown Coal
for Energy Production and Utilities . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305
V.A. Moiseev, V.G. Andrienko, V.G. Piletskii,
V.A. Donchenko and A.I. Urvantsev
Contents xiii

NiMo/USY-Alumina Catalysts with Different Zeolite Content

for Vacuum Gas Oil Hydrocracking Over Stacked Beds . . . . . . . . . . . . . 319
P.P. Dik, V.P. Doronin, E.Yu. Gerasimov, M.O. Kazakov,
O.V. Klimov, G.I. Koryakina, K.A. Nadeina,
A.S. Noskov and T.P. Sorokina
Comparative Mechanical Tests of Samples Obtained
by the Domestic Experimental Unit Meltmaster3D-550 . . . . . . . . . . . . . . . 329
A.V. Dub, V.V. Beregovsky, E.V. Tretyakov,
S.A. Schurenkova and A.V. Yudin
Development of Lithium-Ion Battery of the “Doped Lithium
Iron Phosphate–Doped Lithium Titanate” System for Power
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341
A.A. Chekannikov, A.A. Kuz’mina, T.L. Kulova, S.A. Novikova,
A.M. Skundin, I.A. Stenina and A.B. Yaroslavtsev
Advanced Heat-Resistant TiAl (Nb,Cr,Zr)-Based Intermetallics
with the Stabilized b(Ti)-Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
A.V. Kartavykh, M.V. Gorshenkov and A.V. Korotitskiy
Structural and Magnetic Properties of As-Cast Fe–Nd Alloys . . . . . . . . . 363
V.P. Menushenkov, I.V. Shchetinin, M.V. Gorshenkov and
A.G. Savchenko
Laser Technology of Designing Nanocomposite Implants
of the Knee Ligaments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373
A.Yu. Gerasimenko, U.E. Kurilova, M.V. Mezentseva, S.A. Oshkukov,
V.M. Podgaetskii, I.A. Suetina, V.V. Zar and N.N. Zhurbina
Properties of Structural Steels with Nanoscale Substructure . . . . . . . . . . 385
T.V. Lomaeva, L.L. Lukin, L.N. Maslov,
O.I. Shavrin and A.N. Skvortsov
Near-Net Shapes Al2O3–SiCw Ceramic Nanocomposites Produced
by Hybrid Spark Plasma Sintering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397
E. Kuznetsova, P. Peretyagin, A. Smirnov, W. Solis and R. Torrecillas
Development of Technical and Technological Solutions
in the Field of Multilayer Graphene for Creating Electrode
Nanomaterial Energy Storage Devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405
N.R. Memetov, A.V. Schegolkov, G.V. Solomakho and A.G. Tkachev
Carbon Fiber-Reinforced Polyurethane Composites
with Modified Carbon–Polymer Interface . . . . . . . . . . . . . . . . . . . . . . . . . 415
A.R. Karaeva, N.V. Kazennov, V.Z. Mordkovich,
S.A. Urvanov and E.A. Zhukova
xiv Contents

Development and Research of Multifrequency X-ray

Tube with a Field Nanocathode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421
T.A. Gryazneva, G.D. Demin, M.A. Makhiboroda,
N.A. Djuzhev and V.E. Skvorcov
Quasicrystalline Powders as the Fillers for Polymer-Based
Composites: Production, Introduction
to Polymer Matrix, Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
A.A. Stepashkin, D.I. Chukov, L.K. Olifirov, A.I. Salimon
and V.V. Tcherdyntsev
Selection of Aluminum Matrix for Boron–Aluminum
Sheet Alloys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439
N.A. Belov, K.Yu. Chervyakova and M.E. Samoshina
Features of Carbide Precipitation During Tempering
of 15H2NMFA and 26HN3M2FA Steels . . . . . . . . . . . . . . . . . . . . . . . . . . 449
S.V. Belikov, V.A. Dub, P.A. Kozlov, A.A. Popov, A.O. Rodin,
A.Yu. Churyumov and I.A. Shepkin
Improvement of the Mechanical and Biomedical Properties of
Implants via the Production of Nanocomposite Based on
Nanostructured Titanium Matrix and Bioactive Nanocoating . . . . . . . . . 461
E.G. Zemtsova, A.Yu. Arbenin, R.Z. Valiev and V.M. Smirnov
Nanopowders Synthesis of Oxygen-Free Titanium
Compounds—Nitride, Carbonitride, and Carbide
in a Plasma Reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 469
N.V. Alexeev, D.E. Kirpichev, A.V. Samokhin, M.A. Sinayskiy
and Yu.V. Tsvetkov
The Technology and Setup for High-Throughput Synthesis
of Endohedral Metal Fullerenes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481
D.I. Chervyakova, G.N. Churilov, A.I. Dudnik, G.A. Glushenko,
E.A. Kovaleva, A.A. Kuzubov, N.S. Nikolaev, I.V. Osipova and
N.G. Vnukova
On Some Features of Nanostructural Modification
of Polymer-Inorganic Composite Materials for Light
Industry and for Building Industry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491
M.V. Akulova, S.A. Koksharov, O.V. Meteleva and S.V. Fedosov
High-Speed Laser Direct Deposition Technology: Theoretical
Aspects, Experimental Researches, Analysis of Structure,
and Properties of Metallic Products . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501
K.D. Babkin, V.V. Cheverikin, O.G. Klimova-Korsmik, M.O. Sklyar,
S.L. Stankevich, G.A. Turichin, A.Ya. Travyanov, E.A. Valdaytseva
and E.V. Zemlyakov
Contents xv

Synthesis and Properties of Energetics Metal Borides

for Hybrid Solid-Propellant Rocket Engines . . . . . . . . . . . . . . . . . . . . . . . 511
S.S. Bondarchuk, A.E. Matveev, V.V. Promakhov, A.B. Vorozhtsov,
A.S. Zhukov, I.A. Zhukov and M.H. Ziatdinov
Mechanical Treatment of ZrB2–SiC Powders and Sintered
Ceramic Composites Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
S.P. Buyakova, A.G. Knyazeva, A.G. Burlachenko, Yu. Mirovoi and
S.N. Kulkov

Part III Health and Ecology and Environment Sciences

The Influence of DCs Loaded with Tumor Antigens on the Cytotoxic
Response of MNC Culture Patients with Oncology . . . . . . . . . . . . . . . . . 533
A.P. Cherkasov, J.N. Khantakova, S.A. Falaleeva, A.A. Khristin,
N.A. Kiryishina, V.V. Kozlov, E.V. Kulikova, V.V. Kurilin,
J.A. Lopatnikova, I.A. Obleukhova, S.V. Sennikov, J.A. Shevchenko,
S.V. Sidorov, A.V. Sokolov and A.E. Vitsin
Establishment of a Technological Platform for Pre-Clinical Evaluation
of Biomedical Cellular Products in Russia . . . . . . . . . . . . . . . . . . . . . . . . 543
P.I. Makarevich, Yu P. Rubtsov, D.V. Stambolsky, N.I. Kalinina,
Zh A. Akopyan, Y.V. Parfyonova and V.A. Tkachuk
Combination of Functional Electrical Stimulation and Noninvasive
Spinal Cord Electrical Stimulation for Movement Rehabilitation
of the Children with Cerebral Palsy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
A.G. Baindurashvili, G.A. Ikoeva, Y.P. Gerasimenko,
T.R. Moshonkina, I.E. Nikityuk, I.A. Solopova,
I.A. Sukhotina, S.V. Vissarionov and D.S. Zhvansky
Bifunctional Recombinant Protein Agent Based on Pseudomonas
Exotoxin A Fragment for Targeted Therapy of HER2-Positive
Tumors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563
S.M. Deyev, O.M. Kutova, E.N. Lebedenko,
G.M. Proshkina, A.A. Schulga and E.A. Sokolova
Development of Classification Rules for a Screening Diagnostics
of Lung Cancer Patients Based on the Spectral Analysis
of Metabolic Profiles in the Exhaled Air . . . . . . . . . . . . . . . . . . . . . . . . . . 573
A.V. Borisov, Yu.V. Kistenev, D.A. Kuzmin,
V.V. Nikolaev, A.V. Shapovalov and D.A. Vrazhnov
Antitumor Effect of Vaccinia Virus Double Recombinant
Strains Expressing Genes of Cytokine GM-CSF and Oncotoxic
Peptide Lactaptin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581
G.V. Kochneva, O.A. Koval, E.V. Kuligina,
A.V. Tkacheva and V.A. Richter
xvi Contents

Genome-Wide Association Studies for Milk Production Traits in

Russian Population of Holstein and Black-and-White Cattle . . . . . . . . . . 591
A.A. Sermyagin, E.A. Gladyr, K.V. Plemyashov, A.A. Kudinov,
A.V. Dotsev, T.E. Deniskova and N.A. Zinovieva
Overview of 17,856 Compound Screening for Translation Inhibition
and DNA Damage in Bacteria . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
P.V. Sergiev, E.S. Komarova (Andreianova), I.A. Osterman, Ph.I. Pletnev,
A.Ya. Golovina, I.G. Laptev, S.A. Evfratov, E.I. Marusich, M.S. Veselov,
S.V. Leonov, Ya.A. Ivanenkov, A.A. Bogdanov and O.A. Dontsova
Shape of the Voltage–Frequency Curve Depending on the Type
of the Object Detached from the QCM Surface . . . . . . . . . . . . . . . . . . . . 609
F.N. Dultsev
Complex Technology of Oil Sludge Processing . . . . . . . . . . . . . . . . . . . . . 617
A.V. Anisimov, V.I. Frolov, E.V. Ivanov,
E.A. Karakhanov, S.V. Lesin and V.A. Vinokurov
Comprehensive Ground-Space Monitoring of Anthropogenic
Impact on Russian Black Sea Coastal Water Areas . . . . . . . . . . . . . . . . . 625
V.G. Bondur and V.V. Zamshin
Determination of the Optimal Technological Conditions
of Processing of the Alkali Alumosilicate . . . . . . . . . . . . . . . . . . . . . . . . . 639
V.N. Brichkin, A.M. Gumenyuk, A.V. Panov and A.G. Suss
New Highly Efficient Dry Separation Technologies
of Fine Materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
V.A. Arsentyev, A.M. Gerasimov,
S.V. Dmitriev and A.O. Mezenin
Hydrogenation Processing of Heavy Oil Wastes in the Presence of
Highly Efficient Ultrafine Catalysts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
A.E. Batov, Kh.M. Kadiev, M.Kh. Kadieva,
A.L. Maximov and N.V. Oknina
Development of Unified Import-Substituting Energy-Saving
Technology for Purification of Roily Oils, Oil-Slimes,
and Chemical and Petrochemical Effluents . . . . . . . . . . . . . . . . . . . . . . . . 669
V.V. Grigorov and G.V. Grigoriev
Development of Remote and Contact Techniques for Monitoring
the Atmospheric Composition, Structure, and Dynamics . . . . . . . . . . . . . 679
B.D. Belan, Yu.S. Balin, V.A. Banakh, V.V. Belov,
V.S. Kozlov, A.V. Nevzorov, S.L. Odintsov,
M.V. Panchenko and O.A. Romanovskii
Contents xvii

Technology of Integrated Impact on the Low-Permeable

Reservoirs of Bazhenov Formation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693
V.S. Verbitskiy, V.V. Grachev and A.D. Dmitrievskiy
Development of the First Russian Anammox-Based Technology
for Nitrogen Removal from Wastewater . . . . . . . . . . . . . . . . . . . . . . . . . . 699
A.M. Agarev, A.G. Dorofeev, A.Yu. Kallistova, M.V. Kevbrina,
M.N. Kozlov, Yu.A. Nikolaev and N.V. Pimenov
Pulse-Detonation Hydrojet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709
S.M. Frolov, K.A. Avdeev, V.S. Aksenov, F.S. Frolov,
I.A. Sadykov, I.O. Shamshin and R.R. Tukhvatullina
Development of Technological Process of Matrix Conversion
of Natural and Associated Petroleum Gases into Syngas
with Low Content of Nitrogen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721
V.S. Arutyunov, A.V. Nikitin, V.I. Savchenko, I.V. Sedov,
O.V. Shapovalova and V.M. Shmelev
 Part I
Computer Science
Multimodal Control System of Active
Lower Limb Exoskeleton with Feedback

S.A. Mineev

Abstract Current paper describes multimodal control system of active lower limb
exoskeleton with feedback, which provides switching between manual and
semi-automatic modes of exoskeleton motion control in the process of movement.
Channel of proportional control of exoskeleton actuators and visual feedback allow
exoskeleton pilot to overcome different kinds of obstacles on the move.

Keywords Lower limb robotic exoskeleton Control architecture



Intention recognition Volitional control Proportional control


Sensory feedback Biomechatronic

Introduction

Biofeedback is crucial for controlling human movement during walking [1].

Sensory function disorders resulting from injuries and diseases lead to a loss of
movement ability, as well as motor function impairments. An issue of organizing
feedback in a pilot-exoskeleton system in the process of developing robotic lower
limb medical exoskeleton often is not considered. It is assumed that when
exoskeleton pilot walks, retained sensory function is sufficient to organize move-
ment, i.e. lost motor function is replaced by the exoskeleton function, but lost
sensory function is not replaced.
A number of research projects devoted to the development of robotic lower limb
exoskeleton interfaces attempted to organize feedback in a biomechanical
pilot-exoskeleton system by means of vibrostimulation, acoustic signals, visual
indicators [1], and electrostimulation [2]. However, despite the proven feasibility of
real-time feedback on the pressure exerted on the foot by the surface [2], or on the
current angles of joints, feedback systems did not find a practical application in the
production of robotic lower limb exoskeletons. The main reason is inability to

S.A. Mineev (&)

Lobachevsky State University of Nizhni Novgorod, Nizhny Novgorod, Russia
e-mail: sergm@nifti.unn.ru

© The Author(s) 2018 3

K.V. Anisimov et al. (eds.), Proceedings of the Scientific-Practical Conference
“Research and Development - 2016”, https://doi.org/10.1007/978-3-319-62870-7_1
4 S.A. Mineev

organize a direct channel for proportional control of exoskeleton drive for the pilots
who lost both sensory and motor lower limb function (who are considered the main
target audience for lower limb robotic exoskeletons). Without a direct proportional
control, feedback channel does not provide any advantages. Direct proportional
control of exoskeleton drive was achieved only in the exoskeleton HAL, which is
based on multichannel EMG signals, registered on the lower limbs muscles of a pilot.
Thus, such technology could not be used for pilots who lost both sensory and motor
lower limb function. At the same time, command control systems have received wide
application in mass-produced robotic lower limb exoskeletons [3–6]. By performing a
certain action, for example by pressing a button on crutches, an operator informs the
exoskeleton control system of his/her intention to take a step with the left foot. By
performing another action, for example, by pressing another button, an operator can
communicate his/her intention to take a step with the right foot. This approach allows
the system to produce a movement of the pilot-exoskeleton system on a flat surface
and does not require significant time spent on pilot training. Moreover, command
control does not require significant concentration of a pilot, which conserves pilot’s
energy and has a positive effect on the duration of continuous walking. The main
disadvantage of command control systems is the difficulty to adapt to changing
environment (slopes, obstacles, doorstep, etc.). Lower limb movement in such con-
ditions is executed according to a pre-pattern and, at best, can switch from one
template to another during the walking mode.
Thus, we can state that a promising robotic lower limb medical exoskeleton must
support at least two modes of operation:
– Command semi-automatic mode, which allows the movement of the
pilot-exoskeleton system on a flat surface with constant parameters of walking
mode, such as step length, feet elevation, etc.;
– Manual independent proportional control mode of each exoskeleton joint, pro-
viding biomechanical motion adaptation of the system to the complex envi-
ronment, such as obstacles, doorsteps, slopes.
The latter should be implemented using feedback, allowing the pilot with
impaired lower limb sensory function sense exoskeleton current status and orien-
tation of its parts relative to each other.
Switching between modes in a multimode robotic exoskeleton should be exe-
cuted in the process of movement, without stopping or any special procedures.
This work is devoted to developing and testing a multimode active control
system of the lower limb exoskeleton with feedback.

Exoskeleton Structure

Active lower limb exoskeleton with four degrees of freedom developed in the
Lobachevsky State University of Nizhni Novgorod was used as the basis for of the
multimodal robotic exoskeleton. Active movement is executed in the sagittal plane
Multimodal Control System of Active Lower … 5

with knee and hip joints. The exoskeleton is driven by brushless electric motors
Maxon EC 45 flat 36 V (knee joints) and Maxon EC 90 flat 36 V (hip joints).
Actuators are controlled by a group of 4 controllers Electriprivod BLSD-20
(Russia). Controllers are calibrated in torque units (Nm), which is exerted by the
actuators of exoskeleton joints. Drive units of right and left limbs with spur gear-
boxes provide a torque of 100 Nm in the knee joint and 150 Nm in the hip joint.
The ankle is passive. A 36 V, 10 Ah lithium polymer battery provides 2 h of
continuous motion of the pilot-exoskeleton system. Exoskeleton is attached to the
pilot’s torso via a segmented belt and to the limbs via U-shaped staples.

Exoskeleton Sensory Subsystem

Robotic lower limb exoskeleton sensory subsystem created in the framework of this
study is based on the sensory subsystem described in [7]. Four force sensors were
added to the original subsystem and placed on the soles of the feet (2 sensors on
each foot). Tekscan FlexiForce A401 strain gauges were used as force sensors to
provide an ability to measure the reaction force on the soles of the feet in the range
of 0–1220 N at frequency of 100 Hz.
Given the improvements, exoskeleton sensory subsystem provides the following
abilities:
– to measure angles of pilot’s torso deviation from the vertical in sagittal and
frontal planes with an accuracy of 1 degree or better;
– to measure flexion angles of knee and hip joints with an accuracy of 0.5° or
better;
– to measure floor reaction force on the soles of the feet with an accuracy of 20 N
or better.
Data acquisition from sensors and issuing control commands to exoskeleton
actuators is executed on board the microprocessor board BeagleBoard-xM rev.
C [8]. Sampling frequency of data acquisition is 100 Hz.

Human–Exoskeleton Interface with Feedback

In order to construct human–exoskeleton interface with feedback, we proposed a

scheme that uses strain gauges placed on the phalanges of the exoskeleton pilot.
Strain gauges provide establishment of the exoskeleton proportional drive control
channel. It took eight strain gauges in total, four on each of the pilots’ wrist, to
control four actuators, each of which can rotate the shaft in two opposite directions.
In addition to strain gauges on the phalanges of the pilots’ fingers, we placed
buttons that provide an ability to promptly change the operational mode of
exoskeleton control system. Location of sensors and buttons is illustrated in Fig. 1.
6 S.A. Mineev

Fig. 1 Location of sensors and buttons on fingers of a pilot (a), method of capture of crutches and
impact on strain gauges (b), where: 1 strain gauges, 2 preamplifier (4 channels), 3 buttons of
switching of the modes, 4 crutches

To provide feedback, we decided to use visual stream from a display unit

attached to the pilots’ head and placed in his field of vision. The following infor-
mation should be displayed on the unit block:
– Information on the current operational mode of exoskeletons’ control system (a
7-segment single-character digital indicator is used);
– Information on the current flexion angles of the exoskeleton joints (two bar
indicators are used);
– Information on the reaction force excreted on the exoskeleton feet (four LEDs,
brightness of which depends on the absolute values of the forces excreted on the
soles of the exoskeleton feet in heel and toe areas);
– Emergency information (red LED lights up in the event of threats to critical
failure of exoskeleton).
A general view of a visual feedback display unit and its attachment method to
the exoskeleton pilots’ head are shown in Fig. 2.
Display unit is operated by a microcontroller, which executes the following
tasks:
– Polls strain gauges of proportional control channel;
– Polls relay buttons of switching operational mode of exoskeleton;
Multimodal Control System of Active Lower … 7

Fig. 2 A general view of a visual feedback display unit (a) and its attachment method to the
exoskeleton pilots’ head (b), where: 1 indicator of left knee angle, 2 indicator of left hip angle, 3
indicator of right hip angle, 4 indicator of right knee angle, 5 indicator of the force excreted on the sole
of the exoskeleton left foot in toe area, 6 indicator of the force excreted on the sole of the exoskeleton
left foot in heel area, 7 indicator of the force excreted on the sole of the exoskeleton right foot in toe
area, 8 indicator of the force excreted on the sole of the exoskeleton right foot in heel area, 9
Emergency indicator, 10 single-character digital indicator, 11 visual feedback display unit

– Receives information from the control program functioning on BeagleBoard-xM

microprocessor board on the status of sensors of flexion angle of the joints, on
the forces acting on the feet, on the current operational mode of exoskeletons’
control system and on the signs of emergency;
– Changes the state of display unit in accordance with received information;
– Sends status information of strain gauges and buttons to the control program.
Interaction of BeagleBoard-xM microprocessor board with the display unit is
executed via RS485 interface by means of RS232-RS485 converter.
A scheme of developed human–machine interface is shown in Fig. 3.
Control system of exoskeleton supports six modes: STANDBY, BLOCKAGE,
STAND UP, SIT DOWN, AUTO MOVEMENT and MANUAL MOVEMENT.
Modes could be switched with non-locking buttons placed near the base of the
index fingers of exoskeleton pilot. Button placed on the right hand is referred to as
the SWR and button placed on the left hand is called SWL. Buttons are pressed
with the thumbs. Let us review the operational modes:
8 S.A. Mineev

Force sensor Force sensor

FlexiForce A101 FlexiForce A101

Force sensor
Force sensor FlexiForce A101 Angle sensor Angle sensor Force sensor
FlexiForce A101 ASM PRAS 21 ASM PRAS 21 FlexiForce A401

Preamplifier Force sensor

0...5 V 0...5 V
FlexiForce A401
0...5 V
Human-machine interface

0...5 V
Indicator board

RS232-RS485
Converter

Microprocessor board MEMS-sensor

board

SPI RS485 RS232 BeagleBoard-xM SPI Interface board SPI Analog Devices
ADIS16407

0...5 V

0...5 V Force sensor

0...5 V 0...5 V FlexiForce A401
Preamplifier

Force sensor
Force sensor Angle sensor Angle sensor FlexiForce A401
FlexiForce A101 Force sensor ASM PRAS 21 ASM PRAS 21
FlexiForce A101

Force sensor
FlexiForce A101 Force sensor
FlexiForce A101

Fig. 3 Exoskeleton control system with the developed human–machine interface

STANDBY. Exoskeleton control system goes into this mode immediately after
switching on. Voltage to actuators is not supplied, only sensors are surveyed and
exoskeleton status is displayed on a display unit (symbol ‘F’ is displayed on a
single-character indicator). Holding either SWR or SWL buttons will switch
exoskeleton control system to STANDBY mode from any other mode.
BLOCKAGE. This mode is activated with a single press of either SWR or SWL
buttons. In this mode, a small current flows through the motor winding, which
blocks motor shafts and does not allow exoskeleton joints to flex or stretch. All the
sensors are surveyed and exoskeleton status is displayed on a display unit (symbol
‘L’ is displayed on a single-character indicator).
STAND UP. This mode is activated by double pressing SWR button if
pilot-exoskeleton system is currently in a sitting position. In this mode, control
system executes a template movement to bring exoskeleton in a standing position.
All the sensors are surveyed and exoskeleton status is displayed on a display unit
(symbol ‘U’ is displayed on a single-character indicator). Upon completion of stand
up command, BLOCKAGE mode is automatically activated.
SIT DOWN. This mode is activated by pressing the SWR button three times
given that pilot-exoskeleton system is in a standing position. In this mode, control
system executes a template movement to bring exoskeleton in a sitting position. All
the sensors are surveyed and exoskeleton status is displayed on a display unit
(symbol ‘S’ is displayed on a single-character indicator). Upon completion of this
procedure, STANDBY mode is automatically activated.
AUTO MOVEMENT. This mode is activated by double pressing SWL button if
pilot-exoskeleton system is currently in a standing position. In this mode, the control
Multimodal Control System of Active Lower … 9

system monitors the deviation of the pilot torso from the vertical in frontal and sagittal
planes, measures forces exerted on the exoskeleton feet and flexing angles of the
joints. Exoskeleton status is displayed on the display unit (symbol ‘A’ is displayed on a
single-character indicator). If sensors indicate that one of the legs is both a support leg
and is in front of the other leg, a step forward is made with the other leg. This way, a
pilot with impaired motor and sensory lower limb functions can walk helping himself
with his hands relying on the crutches. In the AUTO MOVEMENT mode, movement
can only be executed on a flat surface with a slope of 15 degrees or less.
MANUAL MOVEMENT. This mode is activated by pressing SWL button three
times. In this mode exoskeleton control system polls all sensors and displays
exoskeleton status on a display unit (symbol ‘H’ is displayed on a single-character
indicator). Each strain gauge is associated with an exoskeleton joint and with the
direction of motor shaft rotation. For example, a strain gauge mounted on the distal
phalange of the index finger is associated with hip flexion, while a strain gauge
mounted on the medial phalange of the same finger is associated with hip
straightening. Movement of the knee joint is controlled by the strain gauges
mounted to phalanges of the middle finger in a similar way to the index finger.
Pilot presses on the corresponding phalanx using handle crutches, while fingers
not involved in the movement control hold the crutch. Pressing is performed with
different strengths. Actuators develop small torque on the motor shafts if the force is
weak and large torque up to maximal 100 Nm in the knee and 150 Nm in the hip
joint if the force is strong. Torque changes according to a predetermined calibration
characteristic, strength of finger pressure/torque on the motor shaft of the joint.
A pilot controls torque on the motor shafts of the joints by focusing on the indicator
readings and visually checking the surroundings. Performing the movements
requires considerable concentration of the pilots’ attention. This mode is used to
perform voluntary movements for stepping over obstacles, climbing stairs, etc.
Described interface has been implemented and tested at National Research N.I.
Lobachevsky State University of Nizhni Novgorod. The test results confirmed the
possibility of creating a multimodal active control system of lower limbs
exoskeleton with feedback, which allows prompt adapting of the exoskeleton
movement to the environment in the process of movement.
On the basis of this research, we sent an application for invention titled “Methods
for generating control signals and manual control of lower limb exoskeleton opera-
tion, as well as control interfaces for operation of this exoskeleton in manual and
software control modes using this generation method”, registered by the Federal
Service for Intellectual Property of Russian Federation #2016144426 11.11.2016.

Conclusions

The challenge of developing a control interface for an active lower limb

exoskeleton that is easy to use for pilots with significant impairments of sensory and
motor lower limb functions is one of the main problems preventing active lower
limb exoskeleton from widespread application in the medical field.
10 S.A. Mineev

Solution to this problem lies in implementing proportional control and feedback

mechanisms that would allow using the human brain plasticity for replacing lost
sensory and motor lower limb functions.
Proposed interface has significant potential to improve consumer properties in
terms of improving proportional control channel and feedback channel. In the near
future we plan to replace bulky display unit with augmented reality glasses and
implement feedback channel by means of cutaneous vibratory stimulation.

Acknowledgments Research are carried out (conducted) with the financial support of the state
represented by the Ministry of Education and Science of the Russian Federation. Agreement
(contract) no. 14.575.21.0031 30 Jun 2014. Unique project Identifier: RFMEFI57514X0031.

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International License (http://creativecommons.org/licenses/by/4.0/), which permits use, sharing,
adaptation, distribution and reproduction in any medium or format, as long as you give appropriate
credit to the original author(s) and the source, provide a link to the Creative Commons license and
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generally submitted to the change in 716, the resistance of those
within the territories of the Pictish king to the royal edict commanding
the adoption of the Catholic Easter and the coronal tonsure
throughout all the provinces of the Picts led to the expulsion of ‘the
family of Iona’—by which expression the Columban monks are
meant—from the Pictish kingdom in 717. This conflict then appears
to have led to two results. In the first place, it separated the churches
of the eastern districts from Iona, broke up the unity of the Columban
Church, and terminated the supremacy of the parent monastery of
Iona over the churches in the Pictish kingdom, which had been
subject to them; and, in the second place, it seems undoubtedly to
have caused a schism in the community on the island, as such
innovations usually do when the attempt to force upon an entire body
the views of a majority is sure to be met by a resisting minority.
Two parties with There were thus at this time two parties among
rival abbots. the brethren in Iona. One party, who had
reluctantly given way on some points, but in the main adhered to the
customs of their fathers, and clung with tenacity to the monastic
system hallowed by their veneration for the founder Columba; the
other, and probably the larger and more influential, conforming in
everything to the Roman party, and leaning towards a modification of
their monastic institution by the introduction of a secular clergy—
each party putting up a rival abbot as soon as they found themselves
sufficiently powerful to do so. By the death of Dunchad, in 717,
Faelchu was left for the time sole abbot of Iona. He was of the race
of Conall Gulban, and the legitimate successor of the old abbots
according to the law which regulated the succession to the abbacy in
the Monastic Church; and his party would be strengthened by those
of the refugee monks from the monasteries in King Nectan’s
dominions who took shelter in Iona. Of the monks who had been
driven out of the Pictish kingdom, some would merely pass over the
Drumalban range into the territory of the Scottish kings of Dalriada,
or seek a farther home among the Columban monasteries in Ireland;
but many would no doubt be drawn to the parent monastery in Iona,
which was beyond King Nectan’s power, and add numbers and force
to what might be termed the Conservative party in the island. On the
other hand, Ecgberct was still alive and resident in Iona, and would
naturally be at the head of what may be called the Reforming party,
and use all his influence in promoting and extending their authority in
the island. The account Bede gives of his life there shows that his
efforts were not so immediately and entirely successful as one would
infer from his other statements, and that his progress was slow. He
says, ‘This man of God, Ecgberct, remained thirteen years in the
aforesaid island which he had thus consecrated again to Christ, by
kindling in it a new ray of divine grace, and restoring it to
ecclesiastical unity and peace. In the year of our Lord’s incarnation
729, in which the Easter of our Lord was celebrated on the eighth
day before the kalends of May—that is, on the 24th April—when he
had performed the solemnity of the mass in memory of the same
resurrection of our Lord, on that same day he departed to the Lord;
and thus finished, or rather never ceases to celebrate, with our Lord,
the apostles and the other citizens of heaven, the joy of that greatest
festival, which he had begun with the brethren whom he had
converted to the grace of unity. But it was a wonderful provision of
the divine dispensation that the venerable man not only passed out
of this world to the Father at Easter, but also when Easter was
celebrated on that day on which it had never been wont to be kept in
these parts. The brethren, therefore, rejoiced in the certain and
Catholic knowledge of the time of Easter, and rejoiced in the
protection of their father, departed to our Lord, by whom they had
been corrected. He also rejoiced that he had been continued in the
flesh till he saw his followers admit and celebrate with him as Easter
that day which they had ever before avoided. Thus the most
reverend father, being assured of their correction, rejoiced to see the
day of our Lord; and he saw it, and was glad.’[510] These expressions
are hardly consistent with the statement that he had brought the
entire community over to the adoption of the Catholic customs
thirteen years before, in 716; and we find that during his life, after
Faelchu had been left in sole possession of the abbacy, it was not till
he had possessed it for five years that a rival abbot, Feidhlimidh, is
put forward in the year 722, who is recorded as holding the abbacy
in that year,[511] though Faelchu was still in life. His pedigree is not
recorded, and he could have had no claim as belonging to the tribe
of the saint, to whom the succession belonged. Again, when Faelchu
dies in 724, we find that a certain Cillene Fada, or the Long,
succeeds Faelchu in the abbacy,[512] and on his death, in 726,
another, Cilline, surnamed Droichteach,[513] appears as abbot, though
during the whole of this time Feidhlimidh also is abbot of Iona.
Ecgberct did not, therefore, see entire conformity during his life, and
the schism was in full vigour up to the day of his death.
Two missionaries, We must place probably at this time and in
St. Modan and St. connection with these events two missionaries,
Ronan, in who likewise appear to have proceeded from the
connection with
south towards the western districts and the Isles.
Roman party.
These are Modan and Ronan. Modan appears in
the Scotch Calendars as an abbot on the 4th February, and as a
bishop on the 14th November; but the dedications to him are so
much mixed up together that it is probable that the same Modan is
meant in both. Ronan appears as bishop on the 7th of February. The
dedications to them are usually found so close together as to show
that they both belonged to the same mission. We first find Modan at
Dryburgh, on the south bank of the Tweed, and then at the church
called by the Celtic people Eaglaisbreac, and by the Anglic
population Fahkirk, now called Falkirk, both meaning ‘the speckled
church.’ We then find him at Rosneath, in the district of Lennox, and
near it is the church of Kilmaronok dedicated to St. Ronan.[514] They
appear to have proceeded to Lorn, where Balimhaodan, or ‘St.
Modan’s town,’ is the old name of Ardchattan, and where on the
opposite side of Loch Etive, is again Kilmaronog. Ronan appears
then to have carried his mission to the Isles. He has left his trace in
Iona, where one of the harbours is Port Ronan. The church,
afterwards the parish church, was dedicated to him, and is called
Teampull Ronaig, and its burying-ground Cladh Ronan. Then we find
him at Rona, in the Sound of Skye, and another Rona off the coast
of Lewis; and finally his death is recorded in 737 as Ronan, abbot of
Cinngaradh, or Kingarth, in Bute.[515] The church, too, in the island of
Eigg again appears about this time, when we hear in 725 of the
death of Oan, superior of Ego.[516]
A.D. 726. A new element seems now to have been
An anchorite introduced into the controversies at Iona, and
probably still further complicated the state of
becomes abbot of parties there. This was the appearance, after the
Iona. death of Cillene the Long, but while Feidlimidh,
the rival abbot, was still alive, of an anchorite as abbot of Iona.
Tighernac tells us that in 727, the year after Cillene’s death, the
relics of St. Adamnan were carried to Ireland and his law renewed,
[517]
that is, what was called the law of the innocents, which exempted
women from the burden of hosting. An ancient document, however,
in one of the Brussels MSS. explains this to mean not that the bones
of Adamnan had been enshrined and carried to Ireland, but other
relics which had been collected by him. The passage is this:
‘Illustrious was this Adamnan. It was by him was gathered the great
collection of the relics (martra) of the saints into one shrine; and that
was the shrine which Cilline Droichteach, son of Dicolla, brought to
Erin, to make peace and friendship between the Cinel Conaill and
the Cinel Eoghain.’[518] Cilline Droichteach, however, appears in the
Martyrology of Tallaght as ‘Abb Iae,’ or abbot of Iona; and the
Martyrology of Marian expressly says, ‘Abbot of la Cholumcille was
this Cilline Droichteach;’[519] while his death is recorded by Tighernac
in 752 as ‘anchorite of Iona.’[520] Here then we have an anchorite who
was abbot from 727 to 752 during the tenure of the same office by
Feidhlimidh. Cilline was not of the race of Conall Gulban, and
therefore not of the line of legitimate successors to the abbacy, but
belonged to the southern Hy Neill. The collecting of the relics of the
saints by Adamnan is clearly characteristic of that period in his
history when he had conformed to Rome; and Cilline’s bearing the
shrine as a symbol of his authority in renewing Adamnan’s law
connects him also with the same party. The results then of the
controversy at Iona correspond with those which we have already
found among the Picts after the expulsion of the Columban monks—
that, besides the secular clergy who made their appearance in
connection with the Roman party, there likewise came clergy
belonging to the more ascetic order of the anchorites; and they now
appear as forming one of the parties in Iona. The epithet of
Droichteach means literally bridger, or bridgemaker, a name
apparently little appropriate in an island where there are no streams
large enough to render bridges necessary; but behind the vallum of
the monastery, and extending from the mill-stream to the hill called
Dunii, was a shallow lake, occupying several acres, which fed the
stream, and which was probably partly natural and partly artificial.
Through the centre of this lake, which is now drained, there runs a
raised way pointing to the hills. It is a broad and elevated causeway
constructed of earth and stones, and is now called Iomaire an
tachair, or ‘the ridge of the way.’ It is 220 yards long and about 22
feet wide.[521] In a hollow among the hillocks to which it points, and at
some little distance, is the foundation of a small oval house
measuring about 18 feet long by 14 broad, outside measure, now
called Cabhan Cuildeach; and from the door of the house proceeds
a small avenue of stones, which grows wider as it ascends to a
hillock; and there are traces of walls which appear to have enclosed
it. It is difficult to avoid the conjecture that it was the construction of
this causeway which gave to Cillene, the anchorite abbot, his epithet
of Bridgemaker, more especially as it points towards what appears to
have been an anchorite’s cell, to which it was probably designed to
give ready access across the lake; and, if he constructed it, we have
only to look to an old anchorite establishment in Ireland to find what
afforded him his pattern. In the island of Ardoilen, on the west coast
of Ireland, already referred to as affording an example of an early
anchorite establishment, we find that ‘on the south side of the
enclosure there is a small lake, apparently artificial, from which an
artificial outlet is formed, which turned a small mill; and along the
west side of this lake there is an artificial stone path or causeway,
220 yards in length, which leads to another stone cell or house, of an
oval form, at the south side of the valley in which the monastery is
situated. This house is eighteen feet long and nine wide, and there is
a small walled enclosure joined to it, which was probably a garden.
There is also, adjoining to it, a stone altar surmounted by a cross,
and a small lake which, like that already noticed, seems to have
been formed by art.’[522] There is no appearance of a stone altar near
the cell in Iona. In other respects the resemblance seems too striking
to be accidental.
The term It is during this period, while Feidhlimidh and
Comhorba, or Cilline the anchorite appear as rival abbots, that a
Coärb, applied to catastrophe is recorded by Tighernac in 737,[523]
abbots of
in which Failbe, son of Guaire, the heir of
Columban Maelruba of Apuorcrosan, was drowned in the
monasteries. deep sea with twenty-two of his sailors. The
monastery founded by Maelruba at Apuorcrosan, now Applecross,
had therefore remained intact. The word ‘hæres,’ or heir, is here the
equivalent of the Irish word Comharba, pronounced coärb, signifying
co-heir or inheritor,[524] which occasionally appears as applied to the
heads of religious houses in Ireland during the preceding century, in
connection with the name of its founder, and which now makes its
first appearance in Scotland. In the Monastic Church in Ireland,
when land was given by the chief or head of a family, it was held to
be a personal grant to the saint or missionary himself and to his
heirs, according to the ecclesiastical law of succession. Heirs of his
body such a founder of a monastery, who was himself under the
monastic rule, of course could not have; but, as we have seen, when
the tribe of the land and the tribe of the patron saint were the same,
the former supplied the abbacy with a person qualified to occupy the
position; and, when they were different, the abbot was taken from
the tribe to which the patron saint belonged. These were his
ecclesiastical successors and co-heirs. As such they inherited the
land or territory which had been granted to the original founder of the
church or monastery, and as such they inherited, as coärbs, or co-
heirs, his ecclesiastical as well as his temporal rights.[525] When the
integrity of the monastic institutions in Ireland began to be impaired
in the seventh century under the influence of the party who had
conformed to Rome, the heads of the religious houses found it
necessary to fall back more upon the rights and privileges inherited
from the founders; and hence in this century the term of Coärb, in
connection with the name of some eminent saint, came to designate
the bishops or abbots who were the successors of his spiritual and
temporal privileges, and eventually the possessor of the land,
bearing the name of abbot, whether he were a layman or a cleric.
Thus, at A.D. 590, the annals record the appointment of Gregory the
Great to be coärb of Peter the Apostle, that is, bishop of Rome. At
606 we have the death of Sillan, son of Caimin, abbot of Bangor and
‘coärb of Comgall,’ who was its founder. In 654 we find the superior
of the church of Aranmore called ‘coärb of Enda’ its founder; and in
680 the superior of the monastery at Cork is termed coärb of St.
Barry, who founded it.[526] Here in 737 the abbot of the monastery at
Apuorcrosan is termed the heir, that is coärb, of Maelruba, who
founded it; and, as we shall see, the abbots of Iona became known
under the designation of coärbs of Columcille. Twelve years
afterwards a similar catastrophe befell the family of Iona, who were
drowned in a great storm in the year 749,[527] a not unnatural
occurrence if they were caught in their curach between Iona and
Colonsay in a southwesterly gale; but which party suffered by this
loss we do not know—probably that which supported Cilline the
anchorite, as, on his death in 752, we find the abbacy assumed by
Slebhine, son of Congal, who was of the race of Conall Gulban, and
therefore belonged to what may be termed the Columban party. In
the same year Tighernac records the death of Slebhine’s brother
Cilline in Iona, and of Cuimine, grandson or descendant of Becc the
religious of Ego, or the island of Eigg.[528] Slebhine, the Columban
abbot, appears to have endeavoured to get his authority as the
legitimate successor of Columba recognised by the Columban
monasteries in Ireland; for we find him going to Ireland in 754, and
enforcing the law of Columcille three years after, when he seems to
have returned to Iona, but again went to Ireland in the following year.
[529]
Feidhlimidh, the rival abbot, dies in the year 759, having
completed the eighty-seventh year of his age.[530] But this did not
terminate the schism: for we find a Suibhne, abbot of Iona, who goes
to Ireland in the year 765,[531] apparently for the purpose of
endeavouring to win the Columban monasteries there; but the death
of Slebhine two years after[532] leaves him sole abbot for five years,
when, on his own death in the year 772,[533] he is succeeded by
Breasal, son of Seghine, whose pedigree is unknown; and in him the
schism seems to have come to an end. Slebhine appears to have
been the last of the abbots who at this time were of the race of
Conall Gulban and had thus a hereditary claim to the abbacy; and
more than a hundred years elapsed before another of the race
obtained the abbacy. The fall of the Scottish kingdom of Dalriada
about this time may have contributed to this suspension of the rights
of the tribe of the patron saint. But all opposition to the entire
conformity of the whole family of Iona to the Roman Church appears
now to have ceased, and there is no indication of any further division
among them.[534]
A.D. 772-801. Breasal appears to have held the abbacy
Breasal, son of without challenge for nearly thirty years; and, five
Seghine, sole years after his accession, he seems to have been
abbot of Iona.
fully recognised by the Columban monasteries in
Ireland, as we find that the law of Columcille was enforced in 778 by
Donnchadh, king of Ireland, and head of the Northern Hy Neill, and
by him as abbot of Iona.[535] In 782 we have the first notice of a new
functionary in Iona, in the death in that year of Muredach son of
Huairgaile, steward of Iona.[536] His functions were probably
connected with the law of Columcille, which involved the collection of
tribute. We find, too, during this period, some incidental notices of
two of the other foundations in the Isles. In 775 dies Conall of Maigh
Lunge,[537] the monastery founded by Columba in Tyree. In 776 the
death of Maelemanach, abbot of Kingarth[538] in Bute, and in 790 that
of Noe, abbot of the same monastery, are recorded.[539] We learn,
too, that while Breasal was abbot two Irish monarchs retired to Iona
and died there. Niall Frosach, formerly king of all Ireland, died there
in 778.[540] Airtgaile, son of Cathail, king of Connaught, assumed the
pilgrim’s staff in 782, and in the following year retired to Iona, and
died there after eight years spent in seclusion.[541] The last
connection of the Scots, too, with Dalriada was severed for the time
by the removal of the relics of the three sons of Erc, the founders of
the colony, who had been buried in Iona, to the great cemetery of
Tailten in Ireland.[542]
A.D. 794. Breasal’s tenure of the abbacy, however, was
First appearance to be characterised by a greater event, which was
of Danish pirates, to exercise a fatal influence on the fortunes of the
and Iona
Scottish monasteries for many a long and dreary
repeatedly
ravaged by them. year. This was the appearance in the Isles, in
794, of a host of sea pirates from the northern
kingdom of Denmark, who were to render the name of Dane
equivalent in the ears of the Columban monks to the spoliation of
their monasteries and the slaughter of their inmates. In 794 there
appears in the Irish Annals the ominous entry of the devastation of
all the islands of Britain by the Gentiles, as they were at first called,
followed, in 795, by the spoliation of Iae Columcille, or Iona, by them.
Again, three years after, the spoliation of the islands of the sea
between Erin and Alban by the Gentiles.[543] The Danes soon
discovered that the richest spoil was to be found in the monasteries,
and directed their destructive attacks against them. Breasal,
however, though doomed to witness these acts of spoliation, was
spared the sight of the total destruction of his monastery; for in 801
he died, in the thirty-first year of his tenure of the abbacy.[544]
A.D. 801-802. In the following year the monastery of Iona was
Connachtach, burnt down by the Danes, and the Annals of the
abbot of Iona. Four Masters place in the same year the death of
Connachtach, a select scribe and abbot of Iona; and four years
afterwards the community of Iona, then consisting of only sixty-eight
A.D. 802-814. members, were slain by the Danes,[545] Cellach,
Cellach, son of son of Conghaile, the abbot who succeeded
Congal, abbot of Connachtach, having apparently taken refuge in
Iona.
Ireland. The monastic buildings thus destroyed
belonged, no doubt, to the original monastery, which, as we have
seen, had been originally constructed of wood, and repaired by
Adamnan. Hitherto there had been no feeling of insecurity in
connection with such wooden buildings, but since the ravages of the
Danes began there is abundant evidence of the frequent destruction
of such buildings by fire; and in the present instance there seems to
have been not only the entire destruction of the monastery, but also
the slaughter of those of the community who remained behind. So
complete was the ruin, and so exposed had the island become to the
ravages of the Danes, that the abbot Cellach appears to have
resolved to remove the chief seat of the Columban order from Iona
to Kells in Meath, of which he had obtained a grant two years
previously. The Irish Annals record, in the year following the
slaughter of the community, the building of a new Columban house
at Kells; and we are told that in 814 Cellach, abbot of Iona, having
finished the building of the church at Kells, resigns the abbacy, and
Diarmicius, disciple of Daigri, is ordained in his place.[546] This
monastery at Kells, which thus took seven years to build, was
constructed of stone,[547] which now began universally to supersede
wood in the construction of ecclesiastical buildings, as less likely to
suffer total destruction from the firebrand of the Danes.
A.D. 802-807. At this time, too, the remains of St. Columba
Remains of St. seem to have been raised from the stone coffin
Columba which enclosed them, and carried to Ireland,
enshrined.
where they were enshrined. We know from
Adamnan that the body of the saint had been placed in a grave
prepared for it, and apparently enclosed in a stone coffin, and that
the place in which it lay was perfectly well known in his day. We also
know that, at the time Bede wrote his History in 735, his remains
were still undisturbed; but, at the time the Book of Armagh was
compiled, that is, in 807, they were enshrined and preserved at the
church of Saul Patrick on the shore of Strangford Lough in the
county of Down in Ireland.[548] It is therefore between these dates,
735 and 807, that they must have been removed.
Among the customs which sprang up in the Irish Church after she
had been brought into contact and more frequent correspondence
with the Roman Church, and had, to some extent, adopted her
customs, was that of disinterring the remains of their saints and
enclosing them in shrines which could be moved from place to place,
and which were frequently used as a warrant for enforcing the
privileges of the monasteries of which the saint was the founder.
Notices of such enshrining of their relics first appear in the Irish
Annals towards the middle of the eighth century. Thus we read, in
733, of the enshrining of the relics of St. Peter, St. Paul and St.
Patrick for enforcing his law;[549] in 743, of the enshrining of the relics
of St. Treno of Celle Delgon, and in 776, of those of St. Erc of Slane
and St. Finnian of Clonard;[550] in 784, of the relics of St. Ultan; in
789, of those of St. Coemgin and St. Mochua.[551] Then, in 799, we
have the placing of the relics of Conlaid, who was the first bishop of
Kildare, and, in 800, of those of Ronan, son of Berich, in shrines of
gold and silver.[552]
We have already seen that the remains of St. Cuthbert were
enshrined eleven years after his death; and the circumstances are
given in so much detail by Bede, who is a contemporary authority,
that the proceedings of the Lindisfarne monks will throw light upon
those of the monks of Iona. St. Cuthbert had wished to be buried in a
stone coffin which had been given him by the abbot Cudda, and was
placed under ground on the north side of his oratory in the island of
Farne, but which he wished to be placed in his cell on the south side
of his oratory opposite the east side of the holy cross which he had
erected there.[553] However, he accedes to the request of the
Lindisfarne monks that they should bury him in their church at
Lindisfarne. Accordingly, after his death his body was taken to
Lindisfarne and deposited in a stone coffin in the church on the right
side, that is, the south side, of the altar.[554] Eleven years later the
Lindisfarne monks resolved to enclose his remains in a light shrine,
and, for the sake of decent veneration, to deposit them in the same
place, but above, instead of below, the pavement.[555] On opening his
sepulchre they find the body entire, and they laid it in a light chest
and deposited it upon the pavement of the sanctuary.[556] Bishop
Eadberct, St. Cuthbert’s successor, then died, and they deposited
his body in the tomb of St. Cuthbert, and placed above it the shrine
which contained the relics of the latter saint.[557]
We see then that at this time, and in a church which derived its
origin from Iona and preserved many of its Scottish customs, the
place where the patron saint was buried was on the right, or south,
side of the altar, and that when his remains were enshrined the
shrine was placed in the same situation, but above the pavement of
the church, instead of being sunk beneath it, that they might more
readily be made the object of veneration. As the saint’s body was
said to have been found entire, the light chest or shrine must have
been large enough to contain it. We know from Simeon of Durham’s
History of the Church of Durham that, when, owing to the cruel
ravagings of the Danes, the monks resolved to abandon Lindisfarne,
they took this shrine with them, and that it was finally deposited at
Durham. He then tells us that in the year 1104 ‘the body of St.
Cuthbert was disinterred, on account of the incredulity of certain
persons, and was exhibited, in the episcopate of Bishop Ralph, in
the presence of Earl Alexander, who afterwards became King of
Scots, and many others. Ralph, abbot of Seez, afterwards bishop of
Rochester, and ultimately archbishop of Canterbury, and the
brethren of the church of Durham, having examined it closely,
discovered that it was uncorrupted, and so flexible in its joints that it
seemed more like a man asleep than one dead; and this occurred
four hundred and eighteen years, five months and twelve days after
his burial.’[558] The description here given of the state of the body of
St. Cuthbert is a verbatim repetition of that given by Bede when his
tomb was opened eleven years after his death, and must be taken
as having no other foundation; but we have from Reginald of
Durham what is more material, an exact description of the shrine
which enclosed it. He says—‘We have hitherto treated of the manner
in which St. Cuthberct, the glorious bishop of Christ, was placed in
his sepulchre; we will now give a description of the inner shrine
(theca) itself. In this inner shrine he was first placed in the island of
Lindisfarne, when he was raised from his grave; and in this his
incorruptible body has been hitherto always preserved. It is
quadrangular, like a chest (archa), and its lid is not elevated in the
middle, but flat, so that its summit, whether of lid or sides, is all along
level and even. The lid is like the lid of a box, broad and flat. The lid
itself is a tablet of wood, serving for an opening, and the whole of it is
made to be lifted up by means of two circles, or rings, which are
fixed mid-way in its breadth, the one towards his feet and the other
towards his head. By these rings the lid is elevated and let down,
and there is no lock or fastening whatever to attach it to the shrine.
The shrine is made entirely of black oak, and it may be doubted
whether it has contracted that colour of blackness from old age, from
some device, or from nature. The whole of it is externally carved with
very admirable engraving, of such minute and most delicate work
that the beholder, instead of admiring the skill or prowess of the
carver, is lost in amazement. The compartments are very
circumscribed and small, and they are occupied by divers beasts,
flowers, and images, which seem to be inserted, engraved, or
furrowed out in the wood. This shrine is enclosed in another outer
one, which is entirely covered by hides, and is surrounded and firmly
bound by iron rails and bandages. The third, however, which is
decorated with gold and precious stones, is placed above these,
and, by means of indented flutings projecting from the second, for
which, in due order, similar projections are fabricated in this, is
closely attached and fastened to it by long iron nails. This cannot
possibly be separated from the rest, because these nails can by no
device be drawn out without fracture.’[559]
The Irish shrine was probably not so elaborate, but it too, as we
have seen, was decorated with silver and gold; and in the Life of St.
Bridget, written probably in the first half of the ninth century, and
attributed to Cogitosus, an account is given us of the shrines in the
church of Kildare. We have seen that the remains of Conlaid, the first
bishop of Kildare, were disinterred and enshrined in the year 799;
and Cogitosus, in his description of the church of St. Bridget, says,
‘in which the glorious bodies both of Bishop Conleath and of this
virgin St. Bridget repose on the right and left sides of the altar,
placed in ornamented shrines decorated with various devices of gold
and silver and gems and precious stones, with crowns of gold and
silver hanging above them.’[560] If we are to look, then, to the period
between the years 735 and 807 for the circumstances which led to
the remains of St. Columba being disinterred, taken over to Ireland,
and enshrined at the church of Saul Patrick, one of the nearest
churches to Iona on the Irish coast, the most natural inference
certainly is that they were connected with the piratical incursions of
the Danes and the destruction of the original monastery by fire in
802.
A.D. 814-831. In the year 818, Diarmaid, abbot of Iona,
Diarmaid abbot of returned to the island, bringing with him the
Iona. Monastery shrine of St. Columba.[561] This implies that there
rebuilt with stone.
had been by this time a reconstruction of the
monastery at Iona. The same causes which led to the new
foundation at Kells being constructed of stone applied with equal
force at Iona; and, looking to the time which was spent in erecting
the buildings at Kells, which required seven years to complete them,
and that four years had elapsed before Diarmaid could bring the
shrine to Iona, there can be little doubt that the new monastery there
was now likewise constructed of stone. The site, however, was
changed. The position of the original wooden monastery was, we
have seen, in the centre of the open level ground which extends
between the mill-stream on the south and the rocky hillocks which
project from the east side of Dunii on the north, and about a quarter
of a mile to the north of the present ruins; but of this no vestiges now
remain, save the western vallum, or embankment, which can still be
traced, and the burying-ground near the shore, marked by two pillar-
stones about five feet high and three feet apart, across the top of
which a third stone lay, forming a rude entrance or gateway.[562] This
monastery had never before been exposed to any hostile attack; but,
now that it had become the object of the plundering and ravaging
incursions of the Danes, it was discovered to be in a very exposed
situation. In front was the sea, and behind it, on the west, from which
it was separated by the vallum, was the lake extending from the mill-
stream to the base of Dunii. The ground south of the mill-burn
presented a much more secure site, for here it was bounded on the
west by a series of rocky heights which could be fortified; and here,
where the present ruins of a late Benedictine monastery are situated,
can be discovered the traces of older stone buildings, which must
have belonged to an earlier monastery.[563] These no doubt may not
be part of a stone monastery erected so long ago as the beginning of
the ninth century, but the monastery then erected would merely be
repaired, and such parts as entirely gave way rebuilt from time to
time; and it may be assumed that, when the monastic buildings were
once constructed of stone, the monastery would always be
preserved in the same place. Here, then, the new stone monastery
was probably constructed, consisting of an oratory or church, a
refectory, the cells of the brethren and an abbot’s house. Behind the
latter is a small rocky hillock called Torrabb, or the abbot’s mount, in
which is still to be found the pedestal of a stone cross; and on a
higher rocky eminence on the west, which overhangs the monastery,
are still to be seen the remains of entrenchments and outworks by
which it appears to have been strongly fortified.[564]
Shrine of St. Here the brethren were reassembled, and
Columba placed in hither was brought the shrine containing the relics
stone monastery. of St. Columba, which, according to what we
have seen was the usage of the time, would be placed on the right,
or south, side of the altar in the church, so as to be exposed for the
veneration of the inmates of the monastery. It might be supposed
that the monks of Iona would have felt a reluctance to leave a site
hallowed by the memories of their venerated patron saint, even
though the new site may have promised greater security; but it must
be recollected that it is the presence of the saint’s body that hallows
the site of the monastery he has founded, and confers upon it the
privileges of an Annoid, or mother church. Any spot to which his
relics might be taken would be equally sacred in the eyes of the
community, and the new monastery equally endowed with the
privileges connected with them. It was so with the monks of
Lindisfarne, whose veneration accompanied the body of St. Cuthbert
when forced to retreat from their monastery under very similar
circumstances; and it hallowed every spot in which it was deposited,
till it finally invested the church at Durham, which held his shrine,
with the same feeling of devotion and reverence which had attached
to their first seat in the island of Lindisfarne.
A.D. 825. Whether the new stone monastery in Iona was
Martyrdom of St. to afford them better security against their pagan
Blathmac plunderers the Danes was now to be tested, as
protecting the
seven years had not elapsed before they
shrine.
renewed their attack; and we now get a glimpse
into the state of the monastery at this time from a contemporary, in
the metrical life of St. Blathmac, written by Walafrid Strabo, who
himself died only in the year 849.[565] He tells us that Blathmac was of
royal descent, heir of a throne in that rich Ireland which had given
birth to him as her future king; that, renouncing all secular prospects,
he resolved to lead a religious life and do honour to his name, which
signifies in Latin ‘pulcher natus;’[566] that he surreptitiously joined a
certain monastery, which his biographer does not name, but which
was in his father’s principality, and finally, as abbot, ruled a
venerable body of monks; that he finally, in order to attain the height
of perfection, coveted the crown of martyrdom, and, in order to attain
his desire, thought he could not do better than go to ‘a certain island
on the shores of the Picts placed in the wave-tossed brine, called
Eo,’ or Iona, ‘where Columba, the saint of the Lord, rests in the flesh.
This island he sought under his vow to suffer the marks of Christ, for
here the frequent hordes of pagan Danes were wont to come armed
with malignant furies.’ He seems to have had the care of the
monastery intrusted to him, and had not long to wait, ‘for the time
soon came when the great mercy of God decreed to associate his
servant with his glorious hosts above the stars, and confer a sure
crown,’ viz. that of martyrdom, ‘upon the pious victor.’ He became
aware that an attack on the island was about to be made by the
Danes, and he thus addressed the brethren:—‘“Ye, O companions,
seek within your own minds whether it be your determination to
endure with me the coming fate, for the name of Christ. Whoever of
you can face it, I pray you arm yourselves with courage; but those
who are weak at heart and panic-struck should hasten their flight,
that they may avoid the obvious danger, arming their hands for better
vows. Before us stands the imminent trial of certain death. May a
firm faith keep us prepared for future events; may the careful
guardian of the flying protect those less strong.” The community,
touched by these words, determined to act according to their
strength. Some, with a brave heart resolved to face the sacrilegious
bands, and rejoiced to have to submit their heads to the raging
sword; but others, whom the confidence of mind had not yet
persuaded to this, hasten their flight to known places of refuge.’
Blathmac was aware that in attacking the monasteries the great
object of desire to the Danes was the shrines enriched with precious
metals; and therefore the monks ‘took the shrine from its place,’
which was, no doubt, on the right side of the altar, and ‘deposited it
in the earth in a hollowed tumulus, or grave, and covered it with
sods.’[567] The fatal day is then ushered in rather poetically, showing
how thoroughly the narrator realised the scene. ‘The golden aurora,’
he says, ‘dispelling the dewy darkness, dawned, and the glittering
sun shone again with glorious orb, when this pious cleric stood
before the holy altar, celebrating the holy offices of the mass, himself
a victim acceptable to God to be offered up to the threatening sword.
The rest of the brethren lay commending their souls with prayers and
tears, when, behold, the cursed bands rushed raging through the
unprotected houses, threatening death to those blessed men, and,
furious with rage, the rest of the brethren being slain, came to the
holy father, urging him to give up the precious metals which enclosed
the sacred bones of Saint Columba,’—a description which shows
that there was a church or oratory, with an altar—that the services of
the church were again observed, and that there were houses or cells
for the monks. ‘This booty,’ he proceeds, ‘the Danes coveted; but the
holy man stood firm with unarmed hand, by a stern determination of
the mind taught to resist battle and to challenge encounter,
unaccustomed to yield. He then poured out in the barbarous tongue
—that is, in Danish—the following words: “I know not truly what gold
ye seek, where it may be placed in the ground, and in what recesses
it may be hid; but, if it were permitted me to know, Christ permitting,
never would these lips tell this to your ears.[568] Savagely bring your
swords, seize their hilts and kill. O God, I commend my humble self
to Thy protection.” Hereupon the pious victim is cut in pieces with
severed limbs, and what the fierce soldier could not compensate with
a price he began to search for by wounds in the stiffened entrails.
Nor is it a wonder, for there always were and always will arise those
whom evil rage will excite against the servants of the Lord.’ And so
Blathmac attained his desire, and was made ‘a martyr for the name
of Christ.’ This event, so graphically described by the abbot of
Augiadives, or Reichenau, took place in the year 825.[569]
Four years after the martyrdom of Blathmac, we find Diarmaid, the
abbot of Iona of whose presence in Iona while the Danes attacked
the monastery in 825 we saw no trace, coming to Scotland with the
Mionna of Coluimcille.[570] The word Mionna, as Dr. Reeves has
pointed out, ‘signifies articles of veneration, such as the crozier,
books, or vestments of a saint, upon which oaths used in after-times
to be administered,’ in contradistinction to the word Martra, denoting
the bones or remains of the body of the saint. Thus we find
Adamnan mentioning the brethren endeavouring to avert the effects
of a drought by walking round a field, with the white tunic of St.
Columba and some book written in his own hand.[571] By this time,
then, the brethren who had escaped were reassembled at Iona
under their abbot; and to this period we may assign the construction,
over the spot where the shrine had been concealed, of a small
oratory for its reception. At the west end of the present ruins of the
abbey church, and attached to the west wall of the cloister, are the
foundations of a small quadrangular cell which goes by the name of
St. Columba’s tomb. The walls are about three and a half feet high,
but it has been partly excavated, as the interior floor is somewhat
below the surface of the surrounding ground. It has at the west end a
regularly formed entrance, and within it—at the east end—are two
stone cists placed along the north and south walls, with the space of
a few feet between them. That this so-called cell is, in fact, the
remains of a small oratory, is at once evident when we compare
these remains of the building with oratories of this description in
Ireland; and of one of these, which is more entire, it seems to be
almost a reproduction. In the parish of Templemolaga and county of
Cork there are the remains of some ecclesiastical buildings. They
consist of a central or enclosing wall, within which are the remains of
a church about twenty-five feet long by twelve feet broad inside
measure, and on the north side of this, at a little distance, is a small
oratory, which goes by the name of Leaba Molaga, or St. Molaga’s
bed. It measures internally ten feet by seven feet two inches clear of
walls, which are two feet nine inches thick. The cell at Iona
measures internally ten feet five inches by seven feet, and the walls
are about two feet thick. The west gable of St. Molaga’s bed is partly
preserved, and shows in the centre a doorway formed of two upright
stones for jambs, which support a massive horizontal lintel. It is five
feet six inches in height and two feet four inches in width. The
entrance to the cell at Iona is in the same place and of the same
width. This kind of oratory in Ireland has one peculiarity, and that is a
prolongation of the side walls beyond either gable to the extent of
from eighteen inches to two feet, which is carried up the gables on a
line with the stone roof, forming a species of pilaster. These exist in
Leaba Molaga, being about two feet three inches wide and one foot
four inches deep; and the same peculiar feature is seen in the cell at
Iona. At the east end of Leaba Molaga there were a small window
and an altar of stone on which were preserved two stones believed
to have been candlesticks; and on the south side of the altar, and
along the south wall of the oratory, was a stone cist, or tomb, which
measures five feet six inches in height, one foot eight inches in
width, and one foot in depth. Within the cell at Iona there are two
stone cists, one lying along the south wall of the oratory, and the
other along the north wall, with the space of a few feet between
them. The cist on the south wall is eight feet ten inches in length,
and that on the north wall six feet nine inches, and both cists are
also one foot eight inches broad. The east end of the cell now forms
the wall of the cloister, and, if a window existed, it has been built up,
but the resemblance between the two buildings is so striking, that we
can hardly doubt that it was an oratory of the same kind, and that the
space between the two cists was once filled, at the east end, by a
stone altar.[572] The stone cist on the right, or south, side of the altar
would, according to custom, contain the shrine of St. Columba, the
patron saint; that on the north side probably the remains of St.
Blathmac, who died a martyr in protecting it from the Danes and
who, we are told by his biographer, ‘reposes in the same place,
where, for his holy merits, many miracles are displayed.’[573]
A.D. 831-854. Abbot Diarmaid did not remain long in Iona, for
Innrechtach ua we find him in the year 831 returning to Ireland
Finachta, abbot of with the Mionna,[574] and we hear no more of him.
Iona.
In 849 Innrechtach, abbot of Iona, is said to have
gone to Ireland with the Mionna of Columcille, from which we may
infer that they had been restored to Iona, and that some time
between the year 831 and 849 Innrechtach had become abbot. We
know nothing of his race except that his surname was Ua Finachta,
and nothing of his history except that he was slain by the Saxons
when on a journey to Rome in the year 854, and that he is then
called heir, or coärb, of Columcille.[575] In the meantime that great
revolution had been effected which placed a Scottish dynasty on the
throne of the Picts. This is the most obscure portion of the history of
Scotland, and it is now hardly possible to trace the circumstances
which combined to elevate a Scot, in the person of Kenneth mac
Alpin, to a position of so much power, or to ascertain to what extent
the ecclesiastical element entered into this revolution; but we can
gather that it led to the reintroduction of the Scottish clergy into the
eastern districts thus added to Kenneth’s kingdom, and to an attempt
to reclaim for them these monasteries from which they had been
expelled in the preceding century. And this appears to have
extended even to the Scottish foundations in Lothian; for Kenneth,
we are told, invaded Saxonia, as the country south of the Firth of
Forth was still termed, six times, and burnt Dunbarre and Mailros,
which had been usurped. In whatever sense Dunbarre was held to
be usurped, or whether this epithet was intended to apply to it as
well as to Mailros, the latter was unquestionably founded by the
Scottish missionaries from Iona, who were, as we know, expelled
from the monasteries they had founded, if they would not conform to
Rome; and it is possible that Dunbar may also have been a Scotch
foundation. It was undoubtedly in the possession of the Angles of
Northumbria; but Melrose appears to have been transferred to the
Britons of Strathclyde, as we find it afterwards in the diocese of
Glasgow; and it was probably in retaliation that the Britons burnt
Dunblane.[576] Be this as it may, Kenneth certainly resolved to re-
establish the Columban Church within the territories of the southern
Picts, which now formed the heart of his kingdom, on a different
basis; and, for this purpose, selected Dunkeld, where Constantine,
king of the Picts, had founded a church, probably as being the
nearest of the Pictish churches to the former Scottish kingdom of
Dalriada, and the most central for the whole kingdom.
A.D. 850-865. Here, we are told, he built a church, and
Tuathal, son of removed to it the relics of St. Columba—that is,
Artguso, first probably, only a part of them—in the seventh
bishop of Fortrenn
year of his reign,[577] which corresponds with the
and abbot of
Dunkeld. Cellach, year 850, the year after Innrechtach had departed
son of Aillelo, to Ireland with the Mionna. Iona, as we have
abbot of Kildare seen, had already lost her primacy over the
and of Iona. Columban monasteries in Ireland, which, in
consequence of the destruction of her monastery
by the Danes, was transferred to Kells; and, in taking the relics to
Dunkeld, Kenneth constituted it too as an Annoid, or mother church,
over the Columbans in Scotland, and seems to have resolved to
place the abbot of his new monastery of Dunkeld as bishop over the
church in the territories of the southern Picts which had now come
under his rule, with a view to the more ready reorganisation of
Scottish monasteries within them, so that it should form one diocese,
as it were, under one bishop. Accordingly, five years after Kenneth’s
death, we find recorded the death of Tuathal mac Artguso, abbot of
Dunkeld and first bishop of Fortrenn, as the kingdom of the southern
Picts was then called.[578] As abbot of Dunkeld, a church dedicated to
St. Columba and possessing part of his relics, he thus occupied
towards the Columban monasteries in Scotland the same position as
had belonged to Iona, and would be regarded by them as coärb of
Columcille. As bishop of Fortrenn he was the recognised head of the
Pictish church.[579]