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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.

We examine a phenomenological algorithm for generating morphology of astrocytes, a major class of glial brain cells, based on morphometric data of rat brain protoplasmic astrocytes and observations of general cell development trends in vivo, based on current literature. We adapted the Space Colonization Algorithm (SCA) for procedural generation of astrocytic morphology from scratch. Attractor points used in generation were spatially distributed in the model volume according to the synapse distribution density in the rat hippocampus tissue during the first week of postnatal brain development. We analyzed and compared astrocytic morphology reconstructions at different brain development stages using morphometry estimation techniques such as Sholl analysis, number of bifurcations, number of terminals, total tree length, and maximum branching order. Using morphometric data from protoplasmic astrocytes of rats at different ages, we selected the necessary generation parameters to obtain the most realistic three-dimensional cell morphology models. We demonstrate that our proposed algorithm allows not only to obtain individual cell geometry but also recreate the phenomenon of tiling domain organization in the cell populations. In our algorithm tiling emerges due to the cell competition for territory and the assignment of unique attractor points to their processes, which then become unavailable to other cells and their processes. We further extend the original algorithm by splitting morphology generation in two phases, thereby simulating astrocyte tree structure development during the first and third-fourth weeks of rat postnatal brain development: rapid space exploration at the first stage and extensive branching at the second stage. To this end, we introduce two attractor types to separate two different growth strategies in time. We hypothesize that the extended algorithm with dynamic attractor generation can explain the formation process of fine astrocyte cell structures and maturation of astrocytic arborizations.

A correct model of lipid molecule (distearoylphosphatidylcholine, DSPC) and lipid membrane in water was constructed. Model lipid membrane is stable and has a reliable energy distribution among degrees of freedom. Also after equilibration model system has spatial parameters very similar to those of real DSPC membrane in liquid-crystalline phase. This model was used for studying of lipid membrane permeability to oxygen and water molecules and sodium ion. We obtained the values for transmembrane mobility and diffusion coefficients profiles, which we used for effective permeability coefficients calculation. We found lipid membranes to have significant diffusional resistance to penetration not only by charged particles, such as ions, but also by nonpolar molecules, such as oxygen molecule. We propose theoretical approach for calculation of particle flow across a membrane, as well as methods for estimation of distribution coefficients between bilayer and water phase.

We derive a new model of circadian oscillations in Neurospora crassa, which is suitable to analyze both temporal and spatial dynamics of proteins responsible for mechanism of rythms. The model is based on the non-linear interplay between proteins FRQ and WCC which are products of transcription of frequency and white collar genes forming a feedback loop comprised both positive and negative elements. The main component of oscillations mechanism is supposed to be time-delay in biochemical reactions of transcription. We show that the model accounts for various features observed in Neurospora’s experiments such as entrainment by light cycles, phase shift under light pulse, robustness to action of fluctuations and so on. Wave patterns excited during spatial development of the system are studied. It is shown that the wave of synchronization of biorythms arises under basal transcription factors.

Isothermal electroconvection in a dielectric liquid arising in a plane-parallel electrode system due to unipolar injection of charges from the cathode is considered. Spatially periodic rolls structures stability is investigated.

A computer model describing the spatial-temporal dynamics of populations of interacting with renewable resource is proposed. The life cycle of the individual is described. The algorithm for spatial mobility of individuals within an area is proposed, which takes into account nutritional and social activity. The paper presents the computational experiments with the model that mimic the movement of herds of animals in the area, and describes the model experiment when the group type of animal behavior due to changes in the characteristics of the environment and animal behavior the herd animals is formed, which later goes again in the group type of animal behavior.

In the present paper, we discuss the possibility of a simplified three-dimensional unsteady simulation of plasma-assisted combustion of gaseous fuel in a supersonic airflow. Simulation was performed by using FlowVision CFD software. Analysis of experimental geometry show that it has essentially 3D nature that conditioned by the discrete fuel injection into the flow as well as by the presence of the localized plasma filaments. Study proposes a variant of modeling geometry simplification based on symmetry of the aerodynamic duct and periodicity of the spatial inhomogeneities. Testing of modified FlowVision $k–\varepsilon$ turbulence model named «KEFV» was performed for supersonic flow conditions. Based on that detailed grid without wall functions was used the field of heat and near fuel injection area and surfaces remote from the key area was modeled with using of wall functions, that allowed us to significantly reduce the number of cells of the computational grid. Two steps significantly simplified a complex problem of the hydrocarbon fuel ignition by means of plasma generation. First, plasma formations were simulated by volumetric heat sources and secondly, fuel combustion is reduced to one brutto reaction. Calibration and parametric optimization of the fuel injection into the supersonic flow for IADT-50 JIHT RAS wind tunnel is made by means of simulation using FlowVision CFD software. Study demonstrates a rather good agreement between the experimental schlieren photo of the flow with fuel injection and synthetical one. Modeling of the flow with fuel injection and plasma generation for the facility T131 TSAGI combustion chamber geometry demonstrates a combustion mode for the set of experimental parameters. Study emphasizes the importance of the computational mesh adaptation and spatial resolution increasing for the volumetric heat sources that model electric discharge area. A reasonable qualitative agreement between experimental pressure distribution and modeling one confirms the possibility of limited application of such simplified modeling for the combustion in high-speed flow.

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 investigates the features of group dynamics of individuals-agents in the computer model of the animal population interacting with each other and with a renewable resource. This type of dynamics was previously found in [Belotelov, Konovalenko, 2016]. The model population consists of a set of individuals. Each individual is characterized by its mass, which is identified with energy. It describes in detail the dynamics of the energy balance of the individual. The habitat of the simulated population is a rectangular area where the resource grows evenly (grass).

Various computer experiments carried out with the model under different parameter values and initial conditions are described. The main purpose of these computational experiments was to study the group (herd) dynamics of individuals. It was found that in a fairly wide range of parameter values and with the introduction of spatial inhomogeneities of the area, the group type of behavior is preserved. The values of the model population parameters under which the regime of spatial oscillations of the population occurs were found numerically. Namely, in the model population periodically group (herd) behavior of animals is replaced by a uniform distribution over space, which after a certain number of bars again becomes a group. Numerical experiments on the preliminary analysis of the factors influencing the period of these solutions are carried out. It turned out that the leading parameters affecting the frequency and amplitude, as well as the number of groups are the mobility of individuals and the rate of recovery of the resource. Numerical experiments are carried out to study the influence of parameters determining the nonlocal interaction between individuals of the population on the group behavior. It was found that the modes of group behavior persist for a long time with the exclusion of fertility factors of individuals. It is confirmed that the nonlocality of interaction between individuals is leading in the formation of group behavior.

The review and systematization of current papers on the mathematical modeling of population dynamics allow us to conclude the key interests of authors are two or three main research lines related to the description and analysis of the dynamics of both local structured populations and systems of interacting homogeneous populations as ecological community in physical space. The paper reviews and systematizes scientific studies and results obtained within the framework of dynamics of structured and interacting populations to date. The paper describes the scientific idea progress in the direction of complicating models from the classical Malthus model to the modern models with various factors affecting population dynamics in the issues dealing with modeling the local population size dynamics. In particular, they consider the dynamic effects that arise as a result of taking into account the environmental capacity, density-dependent regulation, the Allee effect, complexity of an age and a stage structures. Particular attention is paid to the multistability of population dynamics. In addition, studies analyzing harvest effect on structured population dynamics and an appearance of the hydra effect are presented. The studies dealing with an appearance and development of spatial dissipative structures in both spatially separated populations and communities with migrations are discussed. Here, special attention is also paid to the frequency and phase multistability of population dynamics, as well as to an appearance of spatial clusters. During the systematization and review of articles on modeling the interacting population dynamics, the focus is on the “prey–predator” community. The key idea and approaches used in current mathematical biology to model a “prey–predator” system with community structure and harvesting are presented. The problems of an appearance and stability of the mosaic structure in communities distributed spatially and coupled by migration are also briefly discussed.