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A two-dimensional mathematical model was developed for estimating the stresses in welded joints formed during multipass welding of multilayer steels. The basis of the model is the system of equations that includes the Lagrange variational equation of incremental plasticity theory and the variational equation of heat conduction, which expresses the principle of M. Biot. Variational-difference method was used to solve the problems of heat conductivity and calculation of the transient temperature field, and then at each time step – for the quasi-static problem of thermoplasticity. The numerical scheme is based on triangular meshes, which gives a more accuracy in describing the boundaries of structural elements as compared to rectangular grids.

The article describes the examples of the analysis of the experimental data spectra for identifying typical structures of processes forming plasma turbulence. The method is based on the original algorithm which is close to the one-sample bootstrap. The base model for description of the fine structure of stochastic processes is finite local-scale normal mixtures. For finding the statistical estimates (maximum likelihood estimates) well known EM algorithm is used. The efficiency of the proposed research technique is demonstrated for a number of spectra’s set obtained in different modes of low-frequency plasma turbulence.

The work discusses the methodological basis and problems of modeling of world dynamics. Outlines approaches to the construction of a new simulation model of global development and the results of the simulation. The basis of the model building is laid empirical approach which based on the statistical analysis of the main socio-economic indicators. On the basis of this analysis identified the main variables. Dynamic equations (in continuous differential form) were written for these variables. Dependencies between variables were selected based on the dynamics of indicators in the past and on the basis of expert assessments, while econometric techniques were used, based on regression analysis. Calculations have been performed for the resulting dynamic equations system, the results are presented in the form of a trajectories beam for those indicators that are directly observable, and for which statistics are available. Thus, it is possible to assess the scatter of the trajectories and understand the predictive capability of this model.

The aim of the work was to study and develop methods of forecasting the dynamics of the human respiratory reactions, based on mathematical modeling. To achieve this goal have been set and solved the following tasks: developed and justified the overall structure and formalized description of the model Respiro-reflex system; built and implemented the algorithm in software models of gas exchange of the body; computational experiments and checking the adequacy of the model-based Lite-ture data and our own experimental studies.

In this embodiment, a new comprehensive model entered partial model modified version of physicochemical properties and blood acid-base balance. In developing the model as the basis of a formalized description was based on the concept of separation of physiologically-fi system of regulation on active and passive subsystems regulation. Development of the model was carried out in stages. Integrated model of gas exchange consisted of the following special models: basic biophysical models of gas exchange system; model physicochemical properties and blood acid-base balance; passive mechanisms of gas exchange model developed on the basis of mass balance equations Grodinza F.; chemical regulation model developed on the basis of a multifactor model D. Gray.

For a software implementation of the model, calculations were made in MatLab programming environment. To solve the equations of the method of Runge–Kutta–Fehlberga. It is assumed that the model will be presented in the form of a computer research program, which allows implements vat various hypotheses about the mechanism of the observed processes. Calculate the expected value of the basic indicators of gas exchange under giperkap Britain and hypoxia. The results of calculations as the nature of, and quantity is good enough co-agree with the data obtained in the studies on the testers. The audit on Adek-vatnost confirmed that the error calculation is within error of copper-to-biological experiments. The model can be used in the theoretical prediction of the dynamics of the respiratory reactions of the human body in a changed atmosphere.

Base long-term modern scenarios of hydrochemical and temperature regimes of the Sea of Azov were considered. New schemes of modeling mechanisms of algal adaptation to changes in the hydrochemical regime and temperature were proposed. In comparison to the traditional ecological-evolutionary schemes, these models have a relatively small dimension, high speed and allow carrying out various calculations on long-term perspective (evolutionally significant times). Based on the ecology-evolutionary model of the lower trophic levels the impact of these environmental factors on the dynamics and microevolution of algae in the Sea of Azov was estimated. In each scenario, the calculations were made for 100 years, with the final values of the variables and parameters not depending on the choice of the initial values. In the process of such asymptotic computer analysis, it was found that as a result of climate warming and temperature adaptation of organisms, the average annual biomass of thermophilic algae (Pyrrophyta and Cyanophyta) naturally increases. However, for a number of diatom algae (Bacillariophyta), even with their temperature adaptation, the average annual biomass may unexpectedly decrease. Probably, this phenomenon is associated with a toughening of competition between species with close temperature parameters of existence. The influence of the variation in the chemical composition of the Don River’s flow on the dynamics of nutrients and algae of the Sea of Azov was also investigated. It turned out that the ratio of organic forms of nitrogen and phosphorus in sea waters varies little. This stabilization phenomenon will take place for all high-productive reservoirs with low flow, due to autochthonous origin of larger part of organic matter in water bodies of this type.

The article shows the relevance of research work in the field of creating control systems for unmanned vehicles based on computer vision technologies. Computer vision tools are used to solve a large number of different tasks, including to determine the location of the car, detect obstacles, determine a suitable parking space. These tasks are resource intensive and have to be performed in real time. Therefore, it is important to develop effective models, methods and tools that ensure the achievement of the required time and accuracy for use in unmanned vehicle control systems. In this case, the choice of the image representation model is important. In this paper, we consider a model based on the wavelet transform, which makes it possible to form features characterizing the energy estimates of the image points and reflecting their significance from the point of view of the contribution to the overall image energy. To form a model of energy characteristics, a procedure is performed based on taking into account the dependencies between the wavelet coefficients of various levels and the application of heuristic adjustment factors for strengthening or weakening the influence of boundary and interior points. On the basis of the proposed model, it is possible to construct descriptions of images their characteristic features for isolating and analyzing, including for isolating contours, regions, and singular points. The effectiveness of the proposed approach to image analysis is due to the fact that the objects in question, such as road signs, road markings or car numbers that need to be detected and identified, are characterized by the relevant features. In addition, the use of wavelet transforms allows to perform the same basic operations to solve a set of tasks in onboard unmanned vehicle systems, including for tasks of primary processing, segmentation, description, recognition and compression of images. The such unified approach application will allow to reduce the time for performing all procedures and to reduce the requirements for computing resources of the on-board system of an unmanned vehicle.

In the conditions of the development of modern economy, human capital is one of the main factors of economic growth. The formation of human capital begins with the birth of a person and continues throughout life, so the value of human capital is inseparable from its carriers, which in turn makes it difficult to account for this factor. This has led to the fact that currently there are no generally accepted methods of calculating the value of human capital. There are only a few approaches to the measurement of human capital: the cost approach (by income or investment) and the index approach, of which the most well-known approach developed under the auspices of the UN.

This paper presents the assigned task in conjunction with the task of demographic dynamics solved in the time-age plane, which allows to more fully take into account the temporary changes in the demographic structure on the dynamics of human capital.

The task of demographic dynamics is posed within the framework of the Mac-Kendrick – von Foerster model on the basis of the equation of age structure dynamics. The form of distribution functions for births, deaths and migration of the population is determined on the basis of the available statistical information. The numerical solution of the problem is given. The analysis and forecast of demographic indicators are presented. The economic and mathematical model of human capital dynamics is formulated on the basis of the demographic dynamics problem. The problem of modeling the human capital dynamics considers three components of capital: educational, health and cultural (spiritual). Description of the evolution of human capital components uses an equation of the transfer equation type. Investments in human capital components are determined on the basis of budget expenditures and private expenditures, taking into account the characteristic time life cycle of demographic elements. A one-dimensional kinetic equation is used to predict the dynamics of the total human capital. The method of calculating the dynamics of this factor is given as a time function. The calculated data on the human capital dynamics are presented for the Russian Federation. As studies have shown, the value of human capital increased rapidly until 2008, in the future there was a period of stabilization, but after 2014 there is a negative dynamics of this value.

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.