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In the present paper the application of the kinetic methods to the blood flow problems in elastic vessels is studied. The Lattice Boltzmann (LB) kinetic equation is applied. This model describes the discretized in space and time dynamics of particles traveling in a one-dimensional Cartesian lattice. At the limit of the small times between collisions LB models describe hydrodynamic equations which are equivalent to the Navier – Stokes for compressible if the considered flow is slow (small Mach number). If one formally changes in the resulting hydrodynamic equations the variables corresponding to density and sound wave velocity by luminal area and pulse wave velocity then a well-known 1D equations for the blood flow motion in elastic vessels are obtained for a particular case of constant pulse wave speed.

In reality the pulse wave velocity is a function of luminal area. Here an interesting analogy is observed: the equation of state (which defines sound wave velocity) becomes pressure-area relation. Thus, a generalization of the equation of state is needed. This procedure popular in the modeling of non-ideal gas and is performed using an introduction of a virtual force. This allows to model arbitrary pressure-area dependence in the resulting hemodynamic equations.

Two test case problems are considered. In the first problem a propagation of a sole nonlinear pulse wave is studied in the case of the Laplace pressure-area response. In the second problem the pulse wave dynamics is considered for a vessel bifurcation. The results show good precision in comparison with the data from literature.

The article describes the modes with the exacerbation of social and biological history. The analysis of the possible causes of the sharp acceleration of biological and social processes in certain historical periods is carried out. Using mathematical modeling shows that hyperbolic trends in social and biological evolution may be the result of transitional processes in periods of expansion of ecological niches. Accelerating biological speciation due to the fact that its earlier life change inhabitancy, making it more diverse, saturating the organic, thus creating favourable conditions for the emergence of new species. In the social history of the expansion of ecological niches associated with technological revolutions, of which the most important were: Neolithic revolution — the transition from appropriating economy to producing economy (10 thousand years ago), “urban revolution” — a shift from the Neolithic epoch to the bronze epoch (5 thousand years ago), the “axial age” — transition to the development of iron tools (2.5 thousand years ago), the industrial revolution — the transition from manual labor to machine production (200 years ago). All of these technological revolutions have been accompanied by dramatic population growth, changes in social and political spheres. So, observed in the last century, hyperbolic nature of some demographic, economic growth and other indicators of world dynamics is a consequence of the transition process, which began as a result of the industrial revolution and to prepare for the transition of the society to a new stage of its development. Singularity point of hyperbolic trend shows the end of the initial phase of the process and marks the transition to the final stage. The mathematical model describing the demographic and economic changes in the era of change is proposed. It is shown that a direct analogue of the contemporary situation in this sense is the “axial age” (since 8 century BC to the beginning of our era). The existence of this analogy allows you to see into the future by studying the past.

In this paper, we discuss the procedure for finding nominal trajectories of the planar five-link bipedal robot with point contact. To this end we use a virtual constraints method that transforms robot’s dynamics to a lowdimensional zero manifold; we also use a nonlinear optimization algorithms to find virtual constraints parameters that minimize robot’s cost of transportation. We analyzed the effect of the degree of Bezier polynomials that approximate the virtual constraints and continuity of the torques on the cost of transportation. Based on numerical results we found that it is sufficient to consider polynomials with degrees between five and six, as further increase in the degree of polynomial results in increased computation time while it does not guarantee reduction of the cost of transportation. Moreover, it was shown that introduction of torque continuity constraints does not lead to significant increase of the objective function and makes the gait more implementable on a real robot.

We propose a two step procedure for finding minimum of the considered optimization problem with objective function in the form of cost of transportation and with high number of constraints. During the first step we solve a feasibility problem: remove cost function (set it to zero) and search for feasible solution in the parameter space. During the second step we introduce the objective function and use the solution found in the first step as initial guess. For the first step we put forward an algorithm for finding initial guess that considerably reduced optimization time of the first step (down to 3–4 seconds) compared to random initialization. Comparison of the objective function of the solutions found during the first and second steps showed that on average during the second step objective function was reduced twofold, even though overall computation time increased significantly.

The paper proposes a new mathematical model to study the interaction dynamics of the longitudinal wall of a narrow channel with its end seal. The end seal was considered as the edge wall on a spring, i.e. spring-mass system. These walls interaction occurs via a viscous liquid filling the narrow channel; thus required the formulation and solution of the hydroelasticity problem. However, this problem has not been previously studied. The problem consists of the Navier–Stokes equations, the continuity equation, the edge wall dynamics equation, and the corresponding boundary conditions. Two cases of fluid motion in a narrow channel with parallel walls were studied. In the first case, we assumed the liquid motion as the creeping one, and in the second case as the laminar, taking into account the motion inertia. The hydroelasticty problem solution made it possible to determine the distribution laws of velocities and pressure in the liquid layer, as well as the motion law of the edge wall. It is shown that during creeping flow, the liquid physical properties and the channel geometric dimensions completely determine the damping in the considered oscillatory system. Both the end wall velocity and the longitudinal wall velocity affect the damping properties of the liquid layer. If the fluid motion inertia forces were taken into account, their influence on the edge wall vibrations was revealed, which manifested itself in the form of two added masses in the equation of its motion. The added masses and damping coefficients of the liquid layer due to the joint consideration of the liquid layer inertia and its viscosity were determined. The frequency and phase responses of the edge wall were constructed for the regime of steady-state harmonic oscillations. The simulation showed that taking into account the fluid layer inertia and its damping properties leads to a shift in the resonant frequencies to the low-frequency region and an increase in the oscillation amplitudes of the edge wall.

In this paper, we address the mathematical modeling of robots based on tensegrity structures. The pivotal property of such structures is the forming elements working only for compression or tension, which allows the use of materials and structural solutions that minimize the weight of the structure while maintaining its strength.

Tensegrity structures hold several properties important for collaborative robotics, exploration and motion tasks in non-deterministic environments: natural compliance, compactness for transportation, low weight with significant impact resistance and rigidity. The control of such structures remains an open research problem, which is associated with the complexity of describing the dynamics of such structures.

We formulate an approach for describing the dynamics of such structures, based on second-order dynamics of the Cartesian coordinates of structure elements (rods), first-order dynamics for angular velocities of rods, and first-order dynamics for quaternions that are used to describe the orientation of rods. We propose a numerical method for solving these dynamic equations. The proposed methods are implemented in the form of a freely distributed mathematical package with open source code.

Further, we show how the provided software package can be used for modeling the dynamics and determining the operating modes of tensegrity structures. We present an example of a tensegrity structure moving in zero gravity with three rigid rods and nine elastic elements working in tension (cables), showing the features of the dynamics of the structure in reaching the equilibrium position. The range of initial conditions for which the structure operates in the normal mode is determined. The results can be directly used to analyze the nature of passive dynamic movements of the robots based on a three-link tensegrity structure, considered in the paper; the proposed modeling methods and the developed software are suitable for modeling a significant variety of tensegrity robots.

Despite numerous achievements of modern science the problem of lightning initiation in an electrodeless thundercloud, the maximum electric field strength inside which is approximately an order of magnitude lower than the dielectric strength of air, remains unsolved. Although there is no doubt that discharge activity begins with the appearance of positive streamers, which can develop under approximately half the threshold electric field as compared to negative ones, it remains unexplored how cold weakly conducting streamer systems unite in a joint hot well-conducting leader channel capable of self-propagation due to effective polarization in a relatively small external field. In this study, we present a self-organizing transport model which is applied to the case of electric discharge tree formation in a thundercloud. So, the model is aimed at numerical simulation of the initial stage of lightning discharge development. Among the innovative features of the model are the absence of grid spacing, high spatiotemporal resolution, and consideration of temporal evolution of electrical parameters of transport channels. The model takes into account the widely known asymmetry between threshold fields needed for positive and negative streamers development. In our model, the resulting well-conducting leader channel forms due to collective effect of combining the currents of tens of thousands of interacting streamer channels each of which initially has negligible conductivity and temperature that does not differ from the ambient one. The model bipolar tree is a directed graph (it has both positive and negative parts). It has morphological and electrodynamic characteristics which are intermediate between laboratory long spark and developed lightning. The model has universal character which allows to use it in other tasks related to the study of transport (in the broad sense of the word) networks.

This article solves the problem of developing a technology for collecting initial data for building models for assessing the functional state of a person. This condition is assessed by the pupil response of a person to a change in illumination based on the pupillometry method. This method involves the collection and analysis of initial data (pupillograms), presented in the form of time series characterizing the dynamics of changes in the human pupils to a light impulse effect. The drawbacks of the traditional approach to the collection of initial data using the methods of computer vision and smoothing of time series are analyzed. Attention is focused on the importance of the quality of the initial data for the construction of adequate mathematical models. The need for manual marking of the iris and pupil circles is updated to improve the accuracy and quality of the initial data. The stages of the proposed technology for collecting initial data are described. An example of the obtained pupillogram is given, which has a smooth shape and does not contain outliers, noise, anomalies and missing values. Based on the presented technology, a software and hardware complex has been developed, which is a collection of special software with two main modules, and hardware implemented on the basis of a Raspberry Pi 4 Model B microcomputer, with peripheral equipment that implements the specified functionality. To evaluate the effectiveness of the developed technology, models of a single-layer perspetron and a collective of neural networks are used, for the construction of which the initial data on the functional state of intoxication of a person were used. The studies have shown that the use of manual marking of the initial data (in comparison with automatic methods of computer vision) leads to a decrease in the number of errors of the 1st and 2nd years of the kind and, accordingly, to an increase in the accuracy of assessing the functional state of a person. Thus, the presented technology for collecting initial data can be effectively used to build adequate models for assessing the functional state of a person by pupillary response to changes in illumination. The use of such models is relevant in solving individual problems of ensuring transport security, in particular, monitoring the functional state of drivers.

A simple model based on a kinetic-type equation is proposed to describe the spread of a virus in space through the migration of virus carriers from a certain center. The consideration is carried out on the example of three countries for which such a one-dimensional model is applicable: Russia, Italy and Chile. The geographical location of these countries and their elongation in the direction from the centers of infection (Moscow, Milan and Lombardia in general, as well as Santiago, respectively) makes it possible to use such an approximation. The aim is to determine the dynamic density of the infected in time and space. The model is two-parameter. The first parameter is the value of the average spreading rate associated with the transfer of infected moving by transport vehicles. The second parameter is the frequency of the decrease of the infected as they move through the country, which is associated with the passengers reaching their destination, as well as with quarantine measures. The parameters are determined from the actual known data for the first days of the spatial spread of the epidemic. An analytical solution is being built; simple numerical methods are also used to obtain a series of calculations. The geographical spread of the disease is a factor taken into account in the model, the second important factor is that contact infection in the field is not taken into account. Therefore, the comparison of the calculated values with the actual data in the initial period of infection coincides with the real data, then these data become higher than the model data. Those no less model calculations allow us to make some predictions. In addition to the speed of infection, a similar “speed of recovery” is possible. When such a speed is found for the majority of the country's population, a conclusion is made about the beginning of a global recovery, which coincides with real data.

A previously developed model that describes the dynamics of social tension in a society divided into two groups: the elite and the people was considered. This model took into account the impact of economic situation changes and the elite–people interaction. The model has been modified by including in the equation describing the tension of the people, a term that takes into account the adaptation of the people to the current situation.

The model coefficients estimation is an important task, the solution of which allows obtaining information about the nature of the interaction between elite and people. We believe that the solution of the system of model equations with optimal coefficients is closest to the values of the indicator characterizing social tension. We used the normalized level of homicide rate as an indicator of social tension.

The model contains seven coefficients. Two coefficients characterizing the influence of economic situation changes on elite and people are taken equal to each other and the same for all countries. We obtained their estimations using a simplified model that takes into account only the change in the economic situation and allows an analytical solution.

The Bayesian approach was used to estimate the remaining five coefficients of model for post-Soviet countries. The prior probability densities of the four coefficients for all countries under consideration were taken to be the same. The prior probability density of fifth coefficient was considered to depend on the regime of government (authoritarian or «transitional»). We assumed that the calculated tension matches with the corresponding indicator of tension in cases where the difference between them does not exceed 5%.

The calculations showed that for the post-Soviet countries, a good coincidence was obtained between the calculated values of the people tension and the normalized level of homicide rate. The coincidence is satisfactory only on average.

The following main results was obtained at the work: under the influence of some «significant» events in 40% of post-Soviet countries, there was a rapid change in the nature of interaction between the elite and the people; regional feature have some influence on the elite–people interaction; the type of government does not significantly affect the elite–people interaction; the method for assessing the stability of the country by the value of the model coefficients is proposed.

Changes in abundance for emerging populations can develop according to several dynamic scenarios. After rapid biological invasions, the time factor for the development of a reaction from the biotic environment will become important. There are two classic experiments known in history with different endings of the confrontation of biological species. In Gause’s experiments with ciliates, the infused predator, after brief oscillations, completely destroyed its resource, so its $r$-parameter became excessive for new conditions. Its own reproductive activity was not regulated by additional factors and, as a result, became critical for the invader. In the experiments of the entomologist Uchida with parasitic wasps and their prey beetles, all species coexisted. In a situation where a population with a high reproductive potential is regulated by several natural enemies, interesting dynamic effects can occur that have been observed in phytophages in an evergreen forest in Australia. The competing parasitic hymenoptera create a delayed regulation system for rapidly multiplying psyllid pests, where a rapid increase in the psyllid population is allowed until the pest reaches its maximum number. A short maximum is followed by a rapid decline in numbers, but minimization does not become critical for the population. The paper proposes a phenomenological model based on a differential equation with a delay, which describes a scenario of adaptive regulation for a population with a high reproductive potential with an active, but with a delayed reaction with a threshold regulation of exposure. It is shown that the complication of the regulation function of biotic resistance in the model leads to the stabilization of the dynamics after the passage of the minimum number by the rapidly breeding species. For a flexible system, transitional regimes of growth and crisis lead to the search for a new equilibrium in the evolutionary confrontation.