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This article is devoted to the study of self-propulsion of bodies in a fluid by the action of internal mechanisms, without changing the external shape of the body. The paper presents an overview of theoretical papers that justify the possibility of this displacement in ideal and viscous liquids.

A special case of self-propulsion of a rigid body along the surface of a liquid is considered due to the motion of two internal masses along the circles. The paper presents a mathematical model of the motion of a solid body with moving internal masses in a three-dimensional formulation. This model takes into account the three-dimensional vibrations of the body during motion, which arise under the action of external forces-gravity force, Archimedes force and forces acting on the body, from the side of a viscous fluid.

The body is a homogeneous elliptical cylinder with a keel located along the larger diagonal. Inside the cylinder there are two material point masses moving along the circles. The centers of the circles lie on the smallest diagonal of the ellipse at an equal distance from the center of mass.

Equations of motion of the system (a body with two material points, placed in a fluid) are represented as Kirchhoff equations with the addition of external forces and moments acting on the body. The phenomenological model of viscous friction is quadratic in velocity used to describe the forces of resistance to motion in a fluid. The coefficients of resistance to movement were determined experimentally. The forces acting on the keel were determined by numerical modeling of the keel oscillations in a viscous liquid using the Navier – Stokes equations.

In this paper, an experimental verification of the proposed mathematical model was carried out. Several series of experiments on self-propulsion of a body in a liquid by means of rotation of internal masses with different speeds of rotation are presented. The dependence of the average propagation velocity, the amplitude of the transverse oscillations as a function of the rotational speed of internal masses is investigated. The obtained experimental data are compared with the results obtained within the framework of the proposed mathematical model.

The paper deals with the mathematical model formulation for studying the nonlinear hydro-elastic response of the narrow channel wall supported by a spring with cubic nonlinearity and interacting with a pulsating viscous liquid filling the channel. In contrast to the known approaches, within the framework of the proposed mathematical model, the inertial and dissipative properties of the viscous incompressible liquid and the restoring force nonlinearity of the supporting spring were simultaneously taken into account. The mathematical model was an equations system for the coupled plane hydroelasticity problem, including the motion equations of a viscous incompressible liquid, with the corresponding boundary conditions, and the channel wall motion equation as a single-degree-of-freedom model with a cubic nonlinear restoring force. Initially, the viscous liquid dynamics was investigated within the framework of the hydrodynamic lubrication theory, i. e. without taking into account the liquid motion inertia. At the next stage, the iteration method was used to take into account the motion inertia of the viscous liquid. The distribution laws of the hydrodynamic parameters for the viscous liquid in the channel were found which made it possible to determine its reaction acting on the channel wall. As a result, it was shown that the original hydroelasticity problem is reduced to a single nonlinear equation that coincides with the Duffing equation. In this equation, the damping coefficient is determined by the liquid physical properties and the channel geometric dimensions, and taking into account the liquid motion inertia lead to the appearance of an added mass. The nonlinear equation study for hydroelastic oscillations was carried out by the harmonic balance method for the main frequency of viscous liquid pulsations. As a result, the primary steady-state hydroelastic response for the channel wall supported by a spring with softening or hardening cubic nonlinearity was found. Numerical modeling of the channel wall hydroelastic response showed the possibility of a jumping change in the amplitudes of channel wall oscillations, and also made it possible to assess the effect of the liquid motion inertia on the frequency range in which these amplitude jumps are observed.

The paper considers mathematical modeling of layered Benard–Marangoni convection of a viscous incompressible fluid. The fluid moves in an infinitely extended layer. The Oberbeck–Boussinesq system describing layered Benard–Marangoni convection is overdetermined, since the vertical velocity is zero identically. We have a system of five equations to calculate two components of the velocity vector, temperature and pressure (three equations of impulse conservation, the incompressibility equation and the heat equation). A class of exact solutions is proposed for the solvability of the Oberbeck–Boussinesq system. The structure of the proposed solution is such that the incompressibility equation is satisfied identically. Thus, it is possible to eliminate the «extra» equation. The emphasis is on the study of heat exchange on the free layer boundary, which is considered rigid. In the description of thermocapillary convective motion, heat exchange is set according to the Newton’s law of cooling. The application of this heat distribution law leads to the third-kind initial-boundary value problem. It is shown that within the presented class of exact solutions to the Oberbeck–Boussinesq equations the overdetermined initial-boundary value problem is reduced to the Sturm–Liouville problem. Consequently, the hydrodynamic fields are expressed using trigonometric functions (the Fourier basis). A transcendental equation is obtained to determine the eigenvalues of the problem. This equation is solved numerically. The numerical analysis of the solutions of the system of evolutionary and gradient equations describing fluid flow is executed. Hydrodynamic fields are analyzed by a computational experiment. The existence of counterflows in the fluid layer is shown in the study of the boundary value problem. The existence of counterflows is equivalent to the presence of stagnation points in the fluid, and this testifies to the existence of a local extremum of the kinetic energy of the fluid. It has been established that each velocity component cannot have more than one zero value. Thus, the fluid flow is separated into two zones. The tangential stresses have different signs in these zones. Moreover, there is a fluid layer thickness at which the tangential stresses at the liquid layer equal to zero on the lower boundary. This physical effect is possible only for Newtonian fluids. The temperature and pressure fields have the same properties as velocities. All the nonstationary solutions approach the steady state in this case.

The paper considers the problem of stationary mixed convection and heat transfer of a viscous heatconducting fluid in a plane square lid-driven cavity. The hot top cover of the cavity has any temperature $T_\mathrm{H}$ and cold bottom wall has temperature $T_\mathrm{0} (T_\mathrm{H} > T_\mathrm{0})$, whereas in contrast the side walls are insulated. The fact that the fluid density can take arbitrary values depending on the amount of overheating of the cavity cover is a feature of the problem. The mathematical formulation includes the Navier–Stokes equations in the ’velocity–pressure’ variables and the heat balance equation which take into account the incompressibility of the fluid flow and the influence of volumetric buoyancy force. The difference approximation of the original differential equations has been performed by the control volume method. Numerical solutions of the problem have been obtained on the $501 \times 501$ grid for the following values of similarity parameters: Prandtl number Pr = 0.70; Reynolds number Re = 100 and 1000; Richardson number Ri = 0.1, 1, and 10; and the relative cover overheating $(T_\mathrm{H}-T_\mathrm{0})/T_\mathrm{0} = 0, 1, 2, 3$. Detailed flow patterns in the form of streamlines and isotherms of relative overheating of the fluid flow are given in the work. It is shown that the increase in the value of the Richardson number (the increase in the influence of buoyancy force) leads to a fundamental change in the structure of the liquid stream. It is also found out that taking into account the variability of the liquid density leads to weakening of the influence of Ri growth on the transformation of the flow structure. The change in density in a closed volume is the cause of this weakening, since it always leads to the existence of zones with negative buoyancy in the presence of a volumetric force. As a consequence, the competition of positive and negative volumetric forces leads in general to weakening of the buoyancy effect. The behaviors of heat exchange coefficient (Nusselt number) and coefficient of friction along the bottom wall of the cavity depending on the parameters of the problem are also analyzed. It is revealed that the greater the values of the Richardson number are, the greater, ceteris paribus, the influence of density variation on these coefficients is.

The paper formulates a mathematical model for hydroelastic oscillations of a plate resting on a nonlinear hardening elastic foundation and interacting with a pulsating fluid layer. The main feature of the proposed model, unlike the wellknown ones, is the joint consideration of the elastic properties of the plate, the nonlinearity of elastic foundation, as well as the dissipative properties of the fluid and the inertia of its motion. The model is represented by a system of equations for a twodimensional hydroelasticity problem including dynamics equation of Kirchhoff’s plate resting on the elastic foundation with hardening cubic nonlinearity, Navier – Stokes equations, and continuity equation. This system is supplemented by boundary conditions for plate deflections and fluid pressure at plate ends, as well as for fluid velocities at the bounding walls. The model was investigated by perturbation method with subsequent use of iteration method for the equations of thin layer of viscous fluid. As a result, the fluid pressure distribution at the plate surface was obtained and the transition to an integrodifferential equation describing bending hydroelastic oscillations of the plate is performed. This equation is solved by the Bubnov –Galerkin method using the harmonic balance method to determine the primary hydroelastic response of the plate and phase response due to the given harmonic law of fluid pressure pulsation at plate ends. It is shown that the original problem can be reduced to the study of the generalized Duffing equation, in which the coefficients at inertial, dissipative and stiffness terms are determined by the physical and mechanical parameters of the original system. The primary hydroelastic response and phases response for the plate are found. The numerical study of these responses is performed for the cases of considering the inertia of fluid motion and the creeping fluid motion for the nonlinear and linearly elastic foundation of the plate. The results of the calculations showed the need to jointly consider the viscosity and inertia of the fluid motion together with the elastic properties of the plate and its foundation, both for nonlinear and linear vibrations of the plate.

The paper considers models of platelet thrombus formation in blood plasma flow in a cylindrical vessel, based on the “advection–diffusion” equation and the Fokker–Planck equation. The comparison of the results of calculations based on these models is given. Considered models show qualitatively similar behavior at the initial stage of thrombus formation. А detailed investigation of large clots requires models’ improvement.

The purpose of research was to develop a mathematical model for pulsating blood flow in the part of aorta with their branches. Since the deformation of this most solid part of the aorta is small during the passage of the pulse wave, the blood vessels were considered as non-deformable curved cylinders. The article describes the internal structure of blood and some internal structural effects. This analysis shows that the blood, which is essentially a suspension, can only be regarded as a non-Newtonian fluid. In addition, the blood can be considered as a liquid only in the blood vessels, diameter of which is much higher than the characteristic size of blood cells and their aggregate formations. As a non-Newtonian fluid the viscous liquid with the power law of the relationship of stress with shift velocity was chosen. This law can describe the behaviour not only of liquids but also dispersions. When setting the boundary conditions at the entrance into aorta, reflecting the pulsating nature of the flow of blood, it was decided not to restrict the assignment of the total blood flow, which makes no assumptions about the spatial velocity distribution in a cross section. In this regard, it was proposed to model the surface envelope of this spatial distribution by a part of a paraboloid of rotation with a fixed base radius and height, which varies in time from zero to maximum speed value. The special attention was paid to the interaction of blood with the walls of the vessels. Having regard to the nature of this interaction, the so-called semi-slip condition was formulated as the boundary condition. At the outer ends of the aorta and its branches the amounts of pressure were given. To perform calculations the tetrahedral computer network for geometric model of the aorta with branches has been built. The total number of meshes is 9810. The calculations were performed with use of the software package ABACUS, which has also powerful tools for creating geometry of the model and visualization of calculations. The result is a distribution of velocities and pressure at each time step. In areas of branching vessels was discovered temporary presence of eddies and reverse currents. They were born via 0.47 s from the beginning of the pulse cycle and disappeared after 0.14 s.

The paper analyzes the methods of studying the process of interaction of soil environments with the tillage tools of soil processing machines. The mathematical methods of numerical modeling are considered in detail, which make it possible to overcome the disadvantages of analytical and empirical approaches. A classification and overview of the possibilities the continuous (FEM — finite element method, CFD — computational fluid dynamics) and discrete (DEM — discrete element method, SPH — hydrodynamics of smoothed particles) numerical methods is presented. Based on the discrete element method, a mathematical model has been developed that represents the soil in the form of a set of interacting small spherical elements. The working surfaces of the tillage tool are presented in the framework of the finite element approximation in the form of a combination of many elementary triangles. The model calculates the movement of soil elements under the action of contact forces of soil elements with each other and with the working surfaces of the tillage tool (elastic forces, dry and viscous friction forces). This makes it possible to assess the influence of the geometric parameters of the tillage tools, technological parameters of the process and soil parameters on the geometric indicators of soil displacement, indicators of the self-installation of tools, power loads, quality indicators of loosening and spatial distribution of indicators. A total of 22 indicators were investigated (or the distribution of the indicator in space). This makes it possible to reproduce changes in the state of the system of elements of the soil (soil cultivation process) and determine the total mechanical effect of the elements on the moving tillage tools of the implement. A demonstration of the capabilities of the mathematical model is given by the example of a study of soil cultivation with a disk cultivator battery. In the computer experiment, a virtual soil channel of 5×1.4 m in size and a 3D model of a disk cultivator battery were used. The radius of the soil particles was taken to be 18 mm, the speed of the tillage tool was 1 m/s, the total simulation time was 5 s. The processing depth was 10 cm at angles of attack of 10, 15, 20, 25 and 30°. The verification of the reliability of the simulation results was carried out on a laboratory stand for volumetric dynamometry by examining a full-scale sample, made in full accordance with the investigated 3D-model. The control was carried out according to three components of the traction resistance vector: $F_x$, $F_y$ and $F_z$. Comparison of the data obtained experimentally with the simulation data showed that the discrepancy is not more than 22.2%, while in all cases the maximum discrepancy was observed at angles of attack of the disk battery of 30°. Good consistency of data on three key power parameters confirms the reliability of the whole complex of studied indicators.

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.

We consider the optimal motion control problem for a mobile device with an external rigid shell moving along a prescribed trajectory in a viscous fluid. The mobile robot under consideration possesses the property of self-locomotion. Self-locomotion is implemented due to back-and-forth motion of an internal material point. The optimal motion control is based on the Sugeno fuzzy inference system. An approach based on constructing decision trees using the genetic algorithm for structural and parametric synthesis has been proposed to obtain the base of fuzzy rules.