diff --git a/algorithm_51/algorithm_51.drawio b/algorithm_51/algorithm_51.drawio
new file mode 100644
index 0000000..fbbd330
--- /dev/null
+++ b/algorithm_51/algorithm_51.drawio
@@ -0,0 +1,716 @@
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font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Поместить номер дальномера и данные с него в посылку для отправки в ПО ПЧ</div></div></div></foreignObject><text x="540" y="534" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Поместить номер дальномера и данные с него в посылку для отправки в ПО ПЧ</text></switch></g><path d="M 540 410 L 540 483.63" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 540 488.88 L 536.5 481.88 L 540 483.63 L 543.5 481.88 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 300 410 L 300 530 L 443.63 530" fill="none" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="stroke"/><path d="M 448.88 530 L 441.88 533.5 L 443.63 530 L 441.88 526.5 Z" fill="rgb(0, 0, 0)" stroke="rgb(0, 0, 0)" stroke-miterlimit="10" pointer-events="all"/><path d="M 780 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font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Контроллер ТСК</div></div></div></foreignObject><text x="45" y="909" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Контроллер ТСК</text></switch></g><rect x="350" y="1290" width="60" height="30" fill="none" stroke="none" pointer-events="all"/><g transform="translate(-0.5 -0.5)"><switch><foreignObject pointer-events="none" width="100%" height="100%" requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility" style="overflow: visible; text-align: left;"><div xmlns="http://www.w3.org/1999/xhtml" style="display: flex; align-items: unsafe center; justify-content: unsafe center; width: 58px; height: 1px; padding-top: 1305px; margin-left: 351px;"><div data-drawio-colors="color: rgb(0, 0, 0); " style="box-sizing: border-box; font-size: 0px; text-align: center;"><div style="display: inline-block; font-size: 12px; font-family: Helvetica; color: rgb(0, 0, 0); line-height: 1.2; pointer-events: all; white-space: normal; overflow-wrap: normal;">Контроллер робота</div></div></div></foreignObject><text x="380" y="1309" fill="rgb(0, 0, 0)" font-family="Helvetica" font-size="12px" text-anchor="middle">Контроллер робота</text></switch></g></g><switch><g requiredFeatures="http://www.w3.org/TR/SVG11/feature#Extensibility"/><a transform="translate(0,-5)" xlink:href="https://www.drawio.com/doc/faq/svg-export-text-problems" target="_blank"><text text-anchor="middle" font-size="10px" x="50%" y="100%">Text is not SVG - cannot display</text></a></switch></svg>
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