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The efficiency of mobile robotic systems (MRS) that monitor the traffic situation, urban infrastructure, consequences of emergency situations, etc., directly depends on the quality of vision systems, which are the most important part of MRS. In turn, the accuracy of image processing in vision systems depends to a great extent on the accuracy of spatial orientation of the video camera placed on the MRS. However, when video cameras are placed on the MRS, the level of errors of their spatial orientation increases sharply, caused by wind and seismic vibrations, movement of the MRS over rough terrain, etc. In this connection, the paper considers a general solution to the problem of stochastic estimation of spatial orientation parameters of video cameras in conditions of both random mast vibrations and arbitrary character of MRS movement. Since the methods of solving this problem on the basis of satellite measurements at high intensity of natural and artificial radio interference (the methods of formation of which are constantly being improved) are not able to provide the required accuracy of the solution, the proposed approach is based on the use of autonomous means of measurement — inertial and non-inertial. But when using them, the problem of building and stochastic estimation of the general model of video camera motion arises, the complexity of which is determined by arbitrary motion of the video camera, random mast oscillations, measurement disturbances, etc. The problem of stochastic estimation of the general model of video camera motion arises. Due to the unsolved nature of this problem, the paper considers the synthesis of both the video camera motion model in the most general case and the stochastic estimation of its state parameters. The developed algorithm for joint estimation of the spatial orientation parameters of the video camera placed on the mast of the MRS is invariant to the nature of motion of the mast, the video camera, and the MRS itself, providing stability and the required accuracy of estimation under the most general assumptions about the nature of interference of the sensitive elements of the autonomous measuring complex used. The results of the numerical experiment allow us to conclude that the proposed approach can be practically applied to solve the problem of the current spatial orientation of MRS and video cameras placed on them using inexpensive autonomous measuring devices.

The review is based on some of the authors ’early works of particular scientific, methodological and practical interest and the greatest attention is paid to recent works, where quite detailed numerical studies of not only single, but also double and multiple explosions in a wide range of heights and environmental conditions have been performed . Since the shock wave of a powerful explosion is one of the main damaging factors in the lower atmosphere, the review focuses on both the physical analysis of their propagation and their interaction. Using the three-dimensional algorithms developed by the authors, the effects of interference and diffraction of several shock waves, which are interesting from a physical point of view, in the absence and presence of an underlying surface of various structures are considered. Quantitative characteristics are determined in the region of their maximum values, which is of known practical interest. For explosions in a dense atmosphere, some new analytical solutions based on the small perturbation method have been found that are convenient for approximate calculations. For a number of conditions, the possibility of using the self-similar properties of equations of the first and second kind to solve problems on the development of an explosion has been shown.

Based on numerical analysis, a fundamental change in the structure of the development of the perturbed region with a change in the height of the explosion in the range of 100–120 km is shown. At altitudes of more than 120 km, the geomagnetic field begins to influence the development of the explosion; therefore, even for a single explosion, the picture of the plasma flow after a few seconds becomes substantially three-dimensional. For the calculation of explosions at altitudes of 120–1000 km under the guidance of academician A. Kholodov. A special three-dimensional numerical algorithm based on the MHD approximation was developed. Numerous calculations were performed and for the first time a quite detailed picture of the three-dimensional flow of the explosion plasma was obtained with the formation of an upward jet in 5–10 s directed in the meridional plane approximately along the geomagnetic field. After some modification, this algorithm was used to calculate double explosions in the ionosphere, spaced a certain distance. The interaction between them was carried out both by plasma flows and through a geomagnetic field. Some results are given in this review and are described in detail in the original articles.

Laser interference microscopy was used to study morphology and intracellular dynamics of erythrocytes, neurons and mast cells. We have found that changes of the local refractive index (RI) of cells have regular components that relate to the cooperative processes in the cellular submembrane and centre regions. We have shown that characteristic frequencies of RI dynamics differ for various cell types and can be used as markers of specific cellular processes.

Although human skills are heavily involved in the Requirements Engineering process, in particular, in requirements elicitation, analysis and specification, still methodology and formalism play a determining role in providing clarity and enabling analysis. In this paper, we propose a method for deriving formal specifications, which are applicable to dependable software systems. First, we clarify what the method itself is. Computer science has a proliferation of languages and methods, but the difference between the two is not always clear. This is a conceptual contribution. Furthermore, we propose the idea of Layered Fault Tolerant Specification (LFTS). The principle consists in layering specifications in (at least) two different layers: one for normal behaviors and others (if more than one) for abnormal behaviors. Abnormal behaviors are described in terms of an Error Injector (EI), which represent a model of the expected erroneous interference coming from the environment. This structure has been inspired by the notion of an idealized Fault Tolerant component, but the combination of LFTS and EI using rely guarantee thinking to describe interference is our second contribution. The overall result is the definition of a method for the specification of systems that do not run in isolation but in the real, physical world. We propose an approach that is pragmatic to its target audience: techniques must scale and be usable by non-experts, if they are to make it into an industrial setting. This article is making tentative steps, but the recent trends in Software Engineering such as Microservices, smart and software-defined buildings, M2M micropayments and Devops are relevant fields continue the investigation concerning dependability and rely guarantee thinking.

In present work we used the methods of molecular dynamics simulations and quantum chemistry to study the concept, according to which aspartic and glutamic residues play a key role in initiation of helix formation in oligopeptides. It has been shown, that the first turn of the alpha-helix can be organized from various amino acid sequences with Asp and Glu residues on the N-terminus. Thermodynamic properties of such a process were analyzed. The obtained results do not interfere with known experimental and statistical data and they substantially elaborate present views on the processes of early peptide folding stages.

The article substantiates the need to develop and analyze mathematical models that take into account the mutual influence of long (Kondratiev) waves of economic development. The analysis of the available publications shows that at the model level, the direct and inverse relationships between intersecting long waves are still insufficiently studied. As practice shows, the production of the current long wave can receive an additional impetus for growth from the technologies of the next long wave. The technologies of the next industrial revolution often serve as improving innovations for the industries born of the previous industrial revolution. As a result, the new long wave increases the amplitude of the oscillations of the trajectory of the previous long wave. Such results of the interaction of long waves in the economy are similar to the effects of interference of physical waves. The mutual influence of the recessions and booms of the economies of different countries gives even more grounds for comparing the consequences of this mutual influence with the interference of physical waves. The article presents a model for the development of the technological base of production, taking into account the possibilities of combining old and new technologies. The model consists of several sub-models. The use of a different mathematical description for the individual stages of updating the technological base of production allows us to take into account the significant differences between the successive phases of the life cycle of general purpose technologies, considered in modern literature as the technological basis of industrial revolutions. One of these phases is the period of formation of the appropriate infrastructure necessary for the intensive diffusion of new general purpose technology, for the rapid development of industries using this technology. The model is used for illustrative calculations with the values of exogenous parameters corresponding to the logic of changing long waves. Despite all the conditionality of the illustrative calculations, the configuration of the curve representing the change in the return on capital in the simulated period is close to the configuration of the real trajectory of the return on private fixed assets of the US economy in the period 1982-2019. The factors that remained outside the scope of the presented model, but which are advisable to take into account when describing the interference of long waves of economic development, are indicated.

The work solves the problem of establishing the dependence of the potential for spatial selection of useful and interfering signals according to the signal-to-interference ratio criterion on the positioning error of user equipment during beamforming by their location at a base station, equipped with an antenna array. Configurable simulation parameters include planar antenna array with a different number of antenna elements, movement trajectory, as well as the accuracy of user equipment location estimation using root mean square error of coordinate estimates. The model implements three algorithms for controlling the shape of the antenna radiation pattern: 1) controlling the beam direction for one maximum and one zero; 2) controlling the shape and width of the main beam; 3) adaptive beamforming. The simulation results showed, that the first algorithm is most effective, when the number of antenna array elements is no more than 5 and the positioning error is no more than 7 m, and the second algorithm is appropriate to employ, when the number of antenna array elements is more than 15 and the positioning error is more than 5 m. Adaptive beamforming is implemented using a training signal and provides optimal spatial selection of useful and interfering signals without device location data, but is characterized by high complexity of hardware implementation. Scripts of the developed models are available for verification. The results obtained can be used in the development of scientifically based recommendations for beam control in ultra-dense millimeter-wave radio access networks of the fifth and subsequent generations.