<?xml version="1.0" encoding="UTF-8"?>
<Worksheet>
<Version major="13" minor="2"/>
<Label-Scheme value="2" prefix=""/>
<View-Properties presentation="false"><Hide name="Group Range"/></View-Properties>
<MapleNet-Properties elisiondigitsbefore="100" labelling="true" indentamount="4" elisiontermsthreshold="10000" ansi="false" errorbreak="1" useclientjvm="true" echo="1" imaginaryunit="I" labelwidth="20" plotdriver="openviz" elisiondigitsafter="100" plotoutput="terminal" rtablesize="10" elisiontermsbefore="100" elisiondigitsthreshold="10000" typesetting="standard" plotdevice="inline" verboseproc="1" showassumed="1" errorcursor="false" longdelim="true" plotoptions="" quiet="false" elisiontermsafter="100" screenwidth="79" preplot="" prettyprint="3" displayprecision="-1" warnlevel="3" screenheight="25" latexwidth="6.0" postplot="" prompt="&gt; " ShowLabels="false"/>
<Styles><Font name="Ordered List 1" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Annotation Text" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Ordered List 2" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Ordered List 3" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Ordered List 4" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Ordered List 5" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Author" background="[0,0,0]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Annotation Title" background="[255,255,255]" bold="true" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="18" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Warning" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[0,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Caption Reference" background="[255,255,255]" bold="true" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Maple Input Placeholder" background="[255,255,255]" bold="true" executable="true" family="Monospaced" foreground="[200,0,200]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="true"/>
<Font name="Maple Plot" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Code" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[255,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Line Printed Output" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[0,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Text Output" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[0,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Diagnostic" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[40,120,40]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="2D Inert Output" background="[255,255,255]" bold="false" executable="true" family="Times New Roman" foreground="[144,144,144]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Normal" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Hyperlink" background="[255,255,255]" bold="false" executable="false" family="Serif" foreground="[0,128,128]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="true" placeholder="false"/>
<Font name="Maple Output" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Dash Item" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="2D Math" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Maple Input" background="[0,0,0]" bold="true" executable="true" family="Monospaced" foreground="[255,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="2D Output" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="2D Input" background="[255,255,255]" bold="false" executable="true" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="HyperlinkError" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[255,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="true" placeholder="false"/>
<Font name="Header and Footer" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="10" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Error" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[255,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Title" background="[0,0,0]" bold="true" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="18" subscript="false" superscript="false" underline="true" placeholder="false"/>
<Font name="Heading 1" background="[0,0,0]" bold="true" executable="false" family="Serif" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="18" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Text" background="[0,0,0]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Bullet Item" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Heading 4" background="[255,255,255]" bold="false" executable="false" family="Serif" foreground="[0,0,0]" italic="true" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Equation Label" background="[255,255,255]" bold="true" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Heading 3" background="[0,0,0]" bold="true" executable="false" family="Serif" foreground="[0,0,0]" italic="true" opaque="false" readonly="false" size="14" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="Heading 2" background="[0,0,0]" bold="true" executable="false" family="Serif" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="16" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="HyperlinkWarning" background="[255,255,255]" bold="false" executable="false" family="Monospaced" foreground="[0,0,255]" italic="false" opaque="false" readonly="true" size="12" subscript="false" superscript="false" underline="true" placeholder="false"/>
<Font name="Dictionary Hyperlink" background="[255,255,255]" bold="false" executable="false" family="Serif" foreground="[147,0,15]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="true" placeholder="false"/>
<Font name="Caption Text" background="[255,255,255]" bold="true" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Font name="List Item" background="[255,255,255]" bold="false" executable="false" family="Times New Roman" foreground="[0,0,0]" italic="false" opaque="false" readonly="false" size="12" subscript="false" superscript="false" underline="false" placeholder="false"/>
<Layout name="Ordered List 1" alignment="left" bullet="numeric" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="-1" bulletsuffix=""/>
<Layout name="Ordered List 2" alignment="left" bullet="alphabetic" firstindent="0" leftmargin="36" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="-1" bulletsuffix=""/>
<Layout name="Ordered List 3" alignment="left" bullet="roman" firstindent="0" leftmargin="72" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="-1" bulletsuffix=""/>
<Layout name="Ordered List 4" alignment="left" bullet="ALPHABETIC" firstindent="0" leftmargin="108" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="-1" bulletsuffix=""/>
<Layout name="Ordered List 5" alignment="left" bullet="ROMAN" firstindent="0" leftmargin="144" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="-1" bulletsuffix=""/>
<Layout name="Author" alignment="centred" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="8" spacebelow="8" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Warning" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Annotation Title" alignment="centred" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="12" spacebelow="12" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Maple Plot" alignment="centred" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Line Printed Output" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="any" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Text Output" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="newline" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Diagnostic" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="any" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Normal" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Maple Output" alignment="centred" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.3" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Dash Item" alignment="left" bullet="dash" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="HyperlinkError" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Error" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Title" alignment="centred" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="12" spacebelow="12" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Heading 1" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="8" spacebelow="4" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Bullet Item" alignment="left" bullet="dot" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Heading 4" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Heading 3" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="Heading 2" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="8" spacebelow="2" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="HyperlinkWarning" alignment="left" bullet="none" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="0" spacebelow="0" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Layout name="List Item" alignment="left" bullet="indent" firstindent="0" leftmargin="0" rightmargin="0" linespacing="0.0" spaceabove="3" spacebelow="3" linebreak="space" pagebreak-before="false" initial="0" bulletsuffix=""/>
<Pencil-style name="Pencil 5" pen-color="[255,0,0]" pen-height="5.0" pen-width="5.0" pen-opacity="1.0"/>
<Pencil-style name="Pencil 4" pen-color="[0,0,255]" pen-height="3.0" pen-width="3.0" pen-opacity="1.0"/>
<Pencil-style name="Pencil 3" pen-color="[0,0,0]" pen-height="3.0" pen-width="3.0" pen-opacity="1.0"/>
<Pencil-style name="Pencil 2" pen-color="[0,0,255]" pen-height="1.0" pen-width="1.0" pen-opacity="1.0"/>
<Pencil-style name="Pencil 1" pen-color="[0,0,0]" pen-height="1.0" pen-width="1.0" pen-opacity="1.0"/>
<Highlighter-style name="Highlighter 2" pen-color="[255,204,0]" pen-height="14.0" pen-width="14.0" pen-opacity="0.8"/>
<Highlighter-style name="Highlighter 1" pen-color="[255,153,255]" pen-height="12.0" pen-width="8.0" pen-opacity="0.8"/>
<Highlighter-style name="Highlighter 4" pen-color="[0,255,255]" pen-height="32.0" pen-width="32.0" pen-opacity="0.8"/>
<Highlighter-style name="Highlighter 3" pen-color="[51,255,0]" pen-height="24.0" pen-width="24.0" pen-opacity="0.8"/>
<Highlighter-style name="Highlighter 5" pen-color="[255,255,0]" pen-height="48.0" pen-width="48.0" pen-opacity="0.8"/>
</Styles>
<Task-table>
    <Task-category name="&lt;default&gt;">
    </Task-category>
</Task-table>
<Task>
</Task>
<Group labelreference="L3">
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<Text-field style="Title" layout="Title">BifTools</Text-field>
<Text-field style="Title" layout="Title">Maple Package for Bifurcation Analysis in Dynamical Systems</Text-field>
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<Text-field style="Author" layout="Author">Milen Borisov, Neli Dimitrova</Text-field>
<Text-field style="Author" layout="Author">Department of Biomathematics 
Institute of Mathematics and Informatics 
Bulgarian Academy of Sciences, Sofia, Bulgaria
milen_kb@abv.bg, nelid@bio.bas.bg</Text-field>
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<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1">Introduction</Text-field></Title>
<Text-field style="Text" layout="Normal">Nonlinear dynamical systems depending on parameters may have very complicated behavior when some parameters are changed. These changes may lead to the appearance or disappearance of equilibrium points, periodic orbits or more complicated features [6], [9]. Given  a dynamical system, our ultimate goal is to obtain its bifurcation diagram, that is to divide the parameter space into regions within which the system has topologically equivalent phase portraits. The center manifold theory proposes a systematic way for studying such kind of problems by simplification of the dynamical systems. Reducing a dynamical system to its center manifold means computation of a parameter-dependent normal form for each bifurcation point in the minimal possible phase space dimension and specification of the relevant genericity conditions. The parameter and coordinate transformations required to put the system into the normal form lead to lengthy intermediate calculations for manual work like symbolic Jacobian computations, Taylor series coefficients, eigenvalues and eigenvectors computations. The Maple package <Font italic="true">BifTools</Font> is aimed to replace this tedious manual work by faster and more rigorous computations.

This worksheet demonstrates the use of the Maple package <Font italic="true">BifTools</Font> for symbolic and numeric bifurcation analysis of dynamical systems. The package consists of five main procedures: </Text-field>
<Text-field style="Text" layout="Normal" bullet="dot"><Font bold="true">BifTools [calcHopfBifPoints] </Font>calculates the Andronov-Hopf bifurcation points of an ODE system, using the method of resultants.</Text-field>
<Text-field style="Text" layout="Normal" bullet="dot"><Font bold="true">BifTools [calcHopfBif] </Font>calculates the normal form of the Andronov-Hopf bifurcation of the equilibrium points.</Text-field>
<Text-field style="Text" bold="true" layout="Normal" bullet="dot"><Font bold="true">BifTools[calcOneZeroEigenvalueBifPoints] </Font><Font bold="false">calculates the bifurcation points of an ODE system with a single zero eigenvalue of the Jacobian.</Font></Text-field>
<Text-field style="Text" layout="Normal" bullet="dot"><Font bold="true">BifTools [calcOneZeroEigenvalueBif] </Font>calculates the normal form of the steady states bifurcations with a single zero eigenvalue of the Jacobian.</Text-field>
<Text-field style="Text" layout="Normal" bullet="dot"><Font bold="true">BifTools [calcBTBif] </Font>calculates the normal form of the Bogdanov-Takens (double zero) bifurcation, using the projection or the direct method for center manifold reduction.
</Text-field>
<Text-field style="Text" layout="Normal"><Font bold="true">Note!</Font> Normal form reduction of the ODE system requires exact (i. e. symbolic or rational-arithmetic) computations. </Text-field>
<Text-field style="Text" layout="Normal">Below we present examples to demonstrate the facilities of the <Font italic="true">BifTools</Font>  procedures.<Equation executable="false" style="2D Math" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYkLUkjbWlHRiQ2I1EhRicvJSxtYXRodmFyaWFudEdRJ25vcm1hbEYn">JSFH</Equation></Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Package version</Text-field></Title>
<Text-field style="Text" layout="Normal">Package BifTools v.1.1.1</Text-field>
</Section>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Requirements</Text-field></Title>
<Text-field style="Text" layout="Normal">Software Requirements: Maple 13 <Font background="[255,255,255]">or higher versions</Font></Text-field>
</Section>
</Section>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1">Initialization</Text-field></Title>
<Text-field style="Text" layout="Normal">Restart the Maple.</Text-field>
<Group labelreference="L921" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">restart:</Text-field>
</Input>
</Group>
<Group labelreference="L6">
<Input>
<Text-field style="Text" layout="Normal"><Font style="Normal">Tell Maple where to find the package library BifTools.mla. </Font></Text-field>
<Text-field style="Text" layout="Normal"><Font style="Normal">For example, in the line below, replace &quot;</Font>/home/milen/Desktop/Maple/work/BifTools/BifTools.mla<Font style="Normal">&quot; by your path to the BifTools.mla library file 
<Font encoding="UTF-8">(e.g. Linux: &quot;/usr/maple/mylib/BifTools.mla&quot; or Windows: &quot;C:\134\134Maple\134\134MyLib\134\134BifTools.mla&quot;</Font>);</Font></Text-field>
</Input>
</Group><Presentation-Block>
<Group labelreference="L918" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">libfile := &quot;/home/milen/Desktop/Maple/work/BifTools/BifTools.mla&quot;:
libname := libname, libfile:</Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="presentation" hide-input="false" hide-output="true" inline-output="false" labelreference="L923" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">Load the package using the 'with' command:</Text-field>
</Input>
</Group></Presentation-Block><Presentation-Block>
<Group view="code" labelreference="L919" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">with(BifTools):</Text-field>
</Input>
</Group></Presentation-Block>
</Section>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1">Local One-Parameter Bifurcations of Equilibrium Points</Text-field></Title>
<Text-field style="Text" layout="Normal">Consider a continuous-time autonomous dynamical system:</Text-field>
<Text-field style="Text" layout="Normal"><Font bold="true">	(1)	</Font><Font italic="true">x' = f(x , </Font><Font encoding="UTF-8">\316\261<Font italic="true">) , x \342\210\210R</Font></Font><Font superscript="true" italic="true">n</Font><Font italic="true"> , </Font><Font encoding="UTF-8">\316\261<Font italic="true">\342\210\210R</Font></Font><Font superscript="true" italic="true">1</Font>,</Text-field>
<Text-field style="Text" layout="Normal">where <Font italic="true">f</Font>  is smooth with respect to <Font italic="true">x</Font> and <Font encoding="UTF-8">\316\261</Font>. Let <Font encoding="UTF-8" italic="true">(x, \316\261)</Font><Font italic="true"> = (x0 , </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0)</Font>  be a fixed point of the system, i. e. <Font italic="true">f(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0) = 0</Font>. The main two questions are:</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">1. Is the fixed point stable or unstable?</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">2. How is the stability or instability affected as <Font encoding="UTF-8" italic="true">\316\261</Font>  is varied?</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">The answer of the first question is simple when the fixed point <Font italic="true">(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0)</Font> is hyperbolic (i. e. none of the eigenvalues of the Jacobian matrix of<Font italic="true">  f</Font>  at this point lies on the imaginary axis). In this case the stability of <Font italic="true">(x0,</Font> <Font encoding="UTF-8" italic="true">\316\261</Font><Font italic="true">0)</Font> is determined by the associated linear system</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."><Font bold="true">	(2)	</Font><Font italic="true">x' = D<Font subscript="true">x</Font> f(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0) x ,</Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">e. g. the hyperbolic point <Font italic="true">(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0)</Font> is asymptotically stable, if all eigenvalues of the Jacobian <Font italic="true">D<Font subscript="true">x</Font> f(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0)</Font> have negative real parts, and <Font italic="true">(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0) </Font>is not stable, if at least one of the eigenvalues of <Font italic="true">D<Font subscript="true">x</Font> f(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0) </Font>has a positive real part. It is also known that under small variations of <Font encoding="UTF-8" italic="true">\316\261</Font> the fixed point moves slightly but remains hyperbolic [6]. So, in a neighborhood of <Font encoding="UTF-8">\316\261</Font><Font italic="true">0</Font>  the isolated hyperbolic fixed point persists and  has always the same stability type.</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">If the fixed point <Font italic="true">(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0)</Font> is not hyperbolic (i. e. the Jacobian of <Font italic="true">f</Font> at this point has some eigenvalues on the imaginary axis), then varying <Font encoding="UTF-8">\316\261</Font> slightly and close to <Font encoding="UTF-8" italic="true">\316\261</Font><Font italic="true">0</Font> causes the stability of the fixed point to change. In this case, if the Jacobian matrix <Font italic="true">D<Font subscript="true">x</Font> f(x0, <Font encoding="UTF-8">\316\261</Font>0)</Font> has some eigenvalues with zero real part then a local bifurcation may occur at <Font italic="true">(x0, </Font><Font encoding="UTF-8">\316\261</Font><Font italic="true">0);</Font> moreover,</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="." bullet="dot">if a unique eigenvalue is equal to zero, then <Font background="[255,255,255]">this is a saddle-node bifurcation or a transcritical bifurcation or a pitchfork bifurcation; we shall call for short each one of them one-zero-eigenvalue bifurcation</Font>;</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="." bullet="dot">if a pair of eigenvalues consists of pure imaginary complex conjugate numbers (with zero real parts), then this is a Poincare-Andronov-Hopf bifurcation, known as Hopf bifurcation.</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">The second question above can be answered using the <Font italic="true">center manifold theory</Font> and the method of <Font italic="true">normal forms</Font>. The <Font italic="true">center manifold theory</Font> allows us to reduce the dimension of a given dynamical system near a local bifurcation, while the method of <Font italic="true">normal forms</Font> simplifies the nonlinear part of</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">the reduced system. So the final result is a reduced and simplified dynamical system (i. e. a dynamical system in a normal form) which is topologically equivalent to the original dynamical<Font background="[255,255,255]"> system [3], [6]. The bifurcation diagrams are well known for systems in a normal form, as we shall see below.</Font></Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" background="[255,255,255]" layout="Heading 2"><Font background="[255,255,255]">One-zero-eigenvalue bifurcations</Font></Text-field></Title>
<Text-field style="Text" layout="Normal" bulletsuffix=".">There are three types of one-zero-eigenvalue bifurcations: saddle-node, transcritical and pitchfork bifurcation. Each one of them satisfies different genericity conditions; their bifurcation diagrams are also different. Without loss of generality let us assume that<Font italic="true"> (x, <Font encoding="UTF-8">\316\261</Font>) = (0, 0)</Font> is a fixed point of <Font background="[255,255,255]">one-dimensional</Font> dynamical system depending on one parameter:</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."><Font bold="true">	(3)	</Font><Font italic="true">x' = f(x , </Font><Font encoding="UTF-8">\316\261<Font italic="true">) , x \342\210\210R</Font></Font><Font superscript="true" italic="true">1</Font><Font italic="true"> , </Font><Font encoding="UTF-8">\316\261<Font italic="true">\342\210\210R</Font></Font><Font superscript="true" italic="true">1</Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">Now, for (3) to undergo a one-zero-eigenvalue bifurcation at <Font italic="true">(0, 0)</Font>,  the following conditions should be satisfied:</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."><Font bold="true">	(4)	</Font><Font italic="true">f(0, 0) = 0, f<Font subscript="true">x</Font>(0, 0) = 0.</Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">These conditions guarantee that the fixed point <Font italic="true">(0, 0)</Font> is not hyperbolic. </Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Saddle-node bifurcation</Text-field></Title>
<Text-field style="Text" layout="Normal">The genericity conditions for a saddle-node bifurcation  are the following:</Text-field>
<Text-field style="Text" layout="Normal"><Font bold="true">	(5)	</Font><Font italic="true">f</Font><Font subscript="true" encoding="UTF-8">\316\261</Font><Font encoding="UTF-8" italic="true">(0, 0) \342\211\240 0, f</Font><Font subscript="true" italic="true">xx</Font><Font italic="true"> (0, 0) <Font encoding="UTF-8">\342\211\240</Font> 0.</Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">It is shown [3], [6] that a system (3), satisfying (4) and (5), is locally topologically equivalent near the origin<Font italic="true"> (0, 0)</Font> to one of the following normal forms:</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."><Font encoding="UTF-8" italic="true">	\316\276' = \317\203</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> \316\263 + \317\203</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> \316\276</Font><Font superscript="true" italic="true"> 2</Font><Font italic="true">, </Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">where <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = sign f<Font subscript="true" encoding="UTF-8">\316\261</Font>(0, 0) = </Font><Font encoding="UTF-8">\302\2611</Font> and <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">2</Font><Font italic="true"> = sign f<Font subscript="true">xx</Font> (0, 0) = </Font><Font encoding="UTF-8">\302\2611</Font><Font italic="true">. </Font><Font encoding="UTF-8">Figure 1 presents the saddle-node bifurcation diagrams; the stable branches are denoted by solid lines, the unstable \342\200\223 by dashed lines.</Font></Text-field><Table alignment="left" showinput="true" interior="group" order="row" exterior="all" width="100%" randomized="false" showlabel="true" plotalignlists="" postexecute="insert" pagebreak="cell" showgroup="true"><Table-Column weight="100" separator="true"></Table-Column><Table-Row align="top" separator="true"><Table-Cell columnspan="1" backgroundstyle="0" rowspan="1" fillcolor="[255,255,255]">
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</Group></Table-Cell></Table-Row><Table-Row align="top" separator="true"><Table-Cell columnspan="1" backgroundstyle="0" rowspan="1" fillcolor="[255,255,255]">
<Text-field style="Text" layout="Normal" alignment="centred">Figure 1: Bifurcation diagrams for saddle-node bifurcation; 
(a) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = +</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = +</Font>1; (b) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = -</Font>1; </Text-field>
<Text-field style="Text" layout="Normal" alignment="centred">(c) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = +</Font>1; (d) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = +</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = -</Font>1.</Text-field></Table-Cell></Table-Row></Table>
<Text-field style="Text" layout="Normal" bulletsuffix="."></Text-field>
</Section>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Transcritical bifurcation</Text-field></Title>
<Text-field style="Text" layout="Normal" bulletsuffix=".">For a transcritical bifurcation to occur, the following genericity conditions should be satisfied:</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">	<Font italic="true">f<Font subscript="true" encoding="UTF-8">\316\261</Font>(0, 0) = 0, f<Font subscript="true" encoding="UTF-8">x\316\261</Font>(0, 0) <Font encoding="UTF-8">\342\211\240</Font> 0, f<Font subscript="true">xx</Font>(0, 0) <Font encoding="UTF-8">\342\211\240</Font> 0.</Font>	</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">The normal forms are then:</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="."><Font italic="true">	<Font encoding="UTF-8">\316\276' = \317\203</Font><Font subscript="true">1</Font><Font encoding="UTF-8"> \316\263 </Font></Font><Font encoding="UTF-8">\316\276<Font italic="true">+ \317\203</Font></Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> \316\276</Font><Font superscript="true" italic="true"> 2</Font><Font italic="true">, </Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">where <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = sign f<Font subscript="true" encoding="UTF-8">x\316\261</Font>(0, 0) <Font encoding="UTF-8">= \302\261</Font></Font>1 and <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">2</Font><Font italic="true"> = sign f<Font subscript="true">xx</Font>(0, 0) = </Font><Font encoding="UTF-8">\302\261</Font>1. Note that in this case<Font background="[255,255,255]"> the</Font><Font encoding="UTF-8"> two fixed points exist for all values of the parameter in a neighborhood of the bifurcation point and can never be destroyed but exchange their stability (see Figure 2, where the stable branches are denoted by solid lines, the unstable \342\200\223 by dashed lines).</Font></Text-field><Table alignment="left" showinput="true" interior="group" order="row" exterior="all" width="100%" randomized="false" showlabel="true" plotalignlists="" postexecute="insert" pagebreak="cell" showgroup="true"><Table-Column weight="100" separator="true"></Table-Column><Table-Row align="top" separator="true"><Table-Cell columnspan="1" backgroundstyle="0" rowspan="1" fillcolor="[255,255,255]">
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<Text-field style="Text" layout="Normal" alignment="centred">Figure 2: Bifurcation diagrams for transcritical bifurcation; </Text-field>
<Text-field style="Text" layout="Normal" alignment="centred">(a) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = +</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = +</Font>1; (b) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = -</Font>1; </Text-field>
<Text-field style="Text" layout="Normal" alignment="centred">(c) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = +</Font>1; (d) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = +</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = -</Font>1.</Text-field></Table-Cell></Table-Row></Table>
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</Section>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Pitchfork bifurcation</Text-field></Title>
<Text-field style="Text" layout="Normal"> The genericity conditions for a pitchfork bifurcation are the following:</Text-field>
<Text-field style="Text" layout="Normal">	<Font italic="true">f<Font subscript="true" encoding="UTF-8">\316\261</Font>(0, 0) = 0, f<Font subscript="true">xx</Font>(0, 0) = 0, f<Font subscript="true" encoding="UTF-8">x\316\261</Font>(0, 0) <Font encoding="UTF-8">\342\211\240</Font> 0, f<Font subscript="true">xxx</Font>(0, 0) <Font encoding="UTF-8">\342\211\240</Font> 0.	</Font>	</Text-field>
<Text-field style="Text" layout="Normal">The normal forms are:</Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font encoding="UTF-8" italic="true">	\316\276' = \317\203</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> \316\263 </Font><Font encoding="UTF-8" italic="false">\316\276</Font><Font encoding="UTF-8" italic="true">+ \317\203</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> \316\276</Font><Font superscript="true" italic="true"> 3</Font><Font italic="true">, </Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">where <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = sign f<Font subscript="true" encoding="UTF-8">x\316\261</Font>(0, 0) = </Font><Font encoding="UTF-8">\302\2611</Font> and <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">2</Font><Font italic="true"> = sign f<Font subscript="true">xxx</Font>(0, 0) = </Font><Font encoding="UTF-8">\302\2611</Font><Font italic="true">. </Font><Font encoding="UTF-8">Figure 3 presents the bifurcation diagrams; the stable branches are denoted by solid lines, the unstable \342\200\223 by dashed lines.</Font></Text-field><Table alignment="left" showinput="true" interior="group" order="row" exterior="all" width="100%" randomized="false" showlabel="true" plotalignlists="" postexecute="insert" pagebreak="cell" showgroup="true"><Table-Column weight="100" separator="true"></Table-Column><Table-Row align="top" separator="true"><Table-Cell columnspan="1" backgroundstyle="0" rowspan="1" fillcolor="[255,255,255]">
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<Text-field style="Text" layout="Normal" alignment="centred">Figure 3: Bifurcation diagrams for pitchfork bifurcation;</Text-field>
<Text-field style="Text" layout="Normal" alignment="centred">(a) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = +</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = +</Font>1; (b) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = -</Font>1; </Text-field>
<Text-field style="Text" layout="Normal" alignment="centred">(c) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = +</Font>1; (d) <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = +</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">2</Font> = </Font>-1.</Text-field></Table-Cell></Table-Row></Table>
<Text-field style="Text" layout="Normal"></Text-field>
</Section>
<Text-field style="Text" layout="Normal" bulletsuffix=".">To summarize, let us assume that <Font encoding="UTF-8" italic="true">(x0, \316\2610)</Font> is a nonhyperbolic equilibrium point of the system (1) with a single zero eigenvalue of the linearization <Font italic="true">D<Font subscript="true">x</Font><Font encoding="UTF-8"> f(x0, \316\2610)</Font></Font>, with the remaining eigenvalues having nonzero real parts. In this case we can use the algorithm for normal form computation  to check for a bifurcation at the equilibrium point and to determine its type (saddle node, transcritical or pitchfork bifurcation). This algorithm is presented in [3] and [4] and is implemented in Maple as a part of the package <Font italic="true">BifTools</Font>. The main procedure in the package for symbolic calculation of this type of bifurcations is <Font italic="true">calcOneZeroEigenvalueBif.</Font> The procedure requires as Maple input: the ODE system, the phase variables, the bifurcation parameter, the critical steady state and the parameter bifurcation value. Examples for demonstrating the facilities of the procedure can be found below.</Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Example - BifTools [calcOneZeroEigenvalueBif]</Text-field></Title>
<Text-field style="Text" layout="Normal">Consider an ODE system describing a simple mathematical model [2] of one organism growing in the chemostat. The model has two variable: <Font italic="true">s(t) -</Font> the concentration of nutrition at time <Font italic="true">t</Font> and <Font italic="true">x(t)</Font> - the concentration of the organism at time <Font italic="true">t</Font>.  The specific growth rate  of the organism <Font encoding="UTF-8" italic="true">\316\274(s) </Font>is assumed to be of Monod-type and has the form:</Text-field>
<Group labelreference="L1188" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">mu := s -&gt; m*s / (a + s);</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEnJiM5NTY7RicvJSdpdGFsaWNHUSZmYWxzZUYnLyUsbWF0aHZhcmlhbnRHUSdub3JtYWxGJy1JI21vR0YkNi1RIzo9RidGMi8lJmZlbmNlR0YxLyUqc2VwYXJhdG9yR0YxLyUpc3RyZXRjaHlHRjEvJSpzeW1tZXRyaWNHRjEvJShsYXJnZW9wR0YxLyUubW92YWJsZWxpbWl0c0dGMS8lJ2FjY2VudEdGMS8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRkktRiM2KC1GLDYlUSJzRicvRjBRJXRydWVGJy9GM1EnaXRhbGljRictRjY2LVEoJiM4NTk0O0YnRjJGOUY7Rj1GP0ZBRkNGRS9GSFEmMC4wZW1GJy9GS0ZZLUkmbWZyYWNHRiQ2KC1GIzYoLUYsNiVRIm1GJ0ZRRlMtRjY2LVExJkludmlzaWJsZVRpbWVzO0YnRjJGOUY7Rj1GP0ZBRkNGRUZYRlpGTi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGMUYyLUYjNiYtRiM2Ji1GLDYlUSJhRidGUUZTLUY2Ni1RIitGJ0YyRjlGO0Y9Rj9GQUZDRkUvRkhRLDAuMjIyMjIyMmVtRicvRktGYHBGTkYyRmBvRmNvRjIvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRmdwLyUpYmV2ZWxsZWRHRjFGYG9GY29GMkZgb0Zjb0Yy">Zio2I0kic0c2IkYlNiRJKW9wZXJhdG9yR0YlSSZhcnJvd0dGJUYlKihJIm1HRiUiIiJGJEYrLCZJImFHRiVGK0YkRishIiJGJUYlRiU=</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1190" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">where <Font italic="true">m</Font> is the maximum specific growth rate, <Font italic="true">a </Font>is the half-saturation constant. </Text-field>
<Text-field style="Text" layout="Normal"></Text-field>
<Text-field style="Text" layout="Normal">The model is presented by the equations with additional parameters <Font italic="true">s0</Font> - the concentration of the input nutrition and <Font italic="true">d</Font> - the dilution (washout) rate. </Text-field>
</Input>
</Group>
<Group labelreference="L1189" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">ode1 := diff(s(t), t) = (s0 - s(t))*d - mu(s(t))*x(t):
ode2 := diff(x(t), t) = (mu(s(t)) - d)*x(t):
ode1; ode2;</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInNGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUYjNiYtRl9wNiQtRiM2Ji1GVzYlUSNzMEYnRlpGZ24tRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZocUZmb0Y2RjZGY28tRlc2JVEiZEYnRlpGZ25GNkZkcS1GLjYoLUYjNiotRlc2JVEibUYnRlpGZ25GY29GZm9GY28tRiM2KC1GVzYlUSJ4RidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYmLUYjNiYtRlc2JVEiYUYnRlpGZ24tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRkZncUZpcUZmb0Y2Rk1GUEY2RmluRlxvRl9vRmFvRjZGTUZQRjY=">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSJzRzYiNiNJInRHRilGKywmKiYsJkkjczBHRikiIiJGJyEiIkYwSSJkR0YpRjBGMCoqSSJtR0YpRjBGJ0YwLCZJImFHRilGMEYnRjBGMS1JInhHRilGKkYwRjE=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInhGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUZfcDYkLUYjNiYtRi42KC1GIzYoLUZXNiVRIm1GJ0ZaRmduRmNvLUYjNigtRlc2JVEic0YnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUZXNiVRImFGJ0ZaRmduLUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGZnJGZnFGNkZNRlBGNkZpbkZcb0Zfb0Zhby1GMzYtUSgmbWludXM7RidGNkY5RjxGPkZARkJGREZGRmVyRmdyLUZXNiVRImRGJ0ZaRmduRjZGNkZjb0Zmb0Y2Rk1GUEY2">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSJ4RzYiNiNJInRHRilGKyomLCYqKEkibUdGKSIiIi1JInNHRilGKkYwLCZJImFHRilGMEYxRjAhIiJGMEkiZEdGKUY1RjBGJ0Yw</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1196" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">To find the steady state bifurcation points of the system, we use the procedure <Font italic="true">calcOneZeroEigenvalueBifPoints</Font> with input arguments:
- the ODE system: [ode1, ode2]
- the variables: [s(t), x(t)]
- the bifurcation parameter: d</Text-field>
</Input>
</Group>
<Group labelreference="L1192" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">BifTools:-calcOneZeroEigenvalueBifPoints([ode1, ode2], [s(t), x(t)], d);</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYkLUkjbWlHRiQ2I1EhRicvJSxtYXRodmFyaWFudEdRJ25vcm1hbEYn">JSFH</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2JVE2LS1+VGhlfk9ERXN+c3lzdGVtfi0tRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0Yn">LUkjbWlHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2JVE2LS1+VGhlfk9ERXN+c3lzdGVtfi0tRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0Yn</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInNGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUYjNiYtRl9wNiQtRiM2Ji1GVzYlUSNzMEYnRlpGZ24tRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZocUZmb0Y2RjZGY28tRlc2JVEiZEYnRlpGZ25GNkZkcS1GLjYoLUYjNiotRlc2JVEibUYnRlpGZ25GY29GZm9GY28tRiM2KC1GVzYlUSJ4RidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYmLUYjNiYtRlc2JVEiYUYnRlpGZ24tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRkZncUZpcUZmb0Y2Rk1GUEY2RmluRlxvRl9vRmFvRjZGTUZQRjY=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInNGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUYjNiYtRl9wNiQtRiM2Ji1GVzYlUSNzMEYnRlpGZ24tRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZocUZmb0Y2RjZGY28tRlc2JVEiZEYnRlpGZ25GNkZkcS1GLjYoLUYjNiotRlc2JVEibUYnRlpGZ25GY29GZm9GY28tRiM2KC1GVzYlUSJ4RidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYmLUYjNiYtRlc2JVEiYUYnRlpGZ24tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRkZncUZpcUZmb0Y2Rk1GUEY2RmluRlxvRl9vRmFvRjZGTUZQRjY=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInhGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUZfcDYkLUYjNiYtRi42KC1GIzYoLUZXNiVRIm1GJ0ZaRmduRmNvLUYjNigtRlc2JVEic0YnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUZXNiVRImFGJ0ZaRmduLUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGZnJGZnFGNkZNRlBGNkZpbkZcb0Zfb0Zhby1GMzYtUSgmbWludXM7RidGNkY5RjxGPkZARkJGREZGRmVyRmdyLUZXNiVRImRGJ0ZaRmduRjZGNkZjb0Zmb0Y2Rk1GUEY2">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInhGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUZfcDYkLUYjNiYtRi42KC1GIzYoLUZXNiVRIm1GJ0ZaRmduRmNvLUYjNigtRlc2JVEic0YnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUZXNiVRImFGJ0ZaRmduLUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGZnJGZnFGNkZNRlBGNkZpbkZcb0Zfb0Zhby1GMzYtUSgmbWludXM7RidGNkY5RjxGPkZARkJGREZGRmVyRmdyLUZXNiVRImRGJ0ZaRmduRjZGNkZjb0Zmb0Y2Rk1GUEY2</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYkLUkjbWlHRiQ2I1EhRicvJSxtYXRodmFyaWFudEdRJ25vcm1hbEYn">JSFH</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkjbXNHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2I1FKVGhlfnN0ZWFkeX5zdGF0ZX5iaWZ1cmNhdGlvbn5wb2ludHN+YXJlOn5GJw==">LUkjbXNHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2I1FKVGhlfnN0ZWFkeX5zdGF0ZX5iaWZ1cmNhdGlvbn5wb2ludHN+YXJlOn5GJw==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="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">LSZJJ1ZlY3Rvckc2JCUqcHJvdGVjdGVkR0koX3N5c2xpYkc2IjYjSSdjb2x1bW5HRig2Iy9JJCVpZEdGKCIpdzInUiM=</Equation></Text-field>
</Output>
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<Group labelreference="L1199" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal" bulletsuffix=".">The procedure found three one-zero-eigenvalue bifurcation points. The most interesting of them is the second bifurcation point: <Equation executable="false" style="2D Math" input-equation="">LUkkbXRkRzYjL0krbW9kdWxlbmFtZUc2IkksVHlwZXNldHRpbmdHSShfc3lzbGliR0YnNigtSShtZmVuY2VkR0YkNiYtSSVtcm93R0YkNiktSSNtaUdGJDYjUSFGJy1GLzYlLUYyNiVRImRGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRj5RJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZILyUpc3RyZXRjaHlHRkgvJSpzeW1tZXRyaWNHRkgvJShsYXJnZW9wR0ZILyUubW92YWJsZWxpbWl0c0dGSC8lJ2FjY2VudEdGSC8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlctSSZtZnJhY0dGJDYoLUYvNiUtRjI2JVEjczBGJ0Y6Rj0tRkE2LVExJkludmlzaWJsZVRpbWVzO0YnRkRGRkZJRktGTUZPRlFGUy9GVlEmMC4wZW1GJy9GWUZgby1GMjYlUSJtRidGOkY9LUYvNiVGMS1GLzYlRmluLUZBNi1RIitGJ0ZERkZGSUZLRk1GT0ZRRlMvRlZRLDAuMjIyMjIyMmVtRicvRllGXXAtRjI2JVEiYUYnRjpGPUYxLyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0ZncC8lKWJldmVsbGVkR0ZILUZBNi1RIixGJ0ZERkYvRkpGPEZLRk1GT0ZRRlNGX28vRllRLDAuMzMzMzMzM2VtRictRi82JkYxLUYvNiUtRjI2JVEic0YnRjpGPS1GQTYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZERkZGSUZLRk1GT0ZRRlNGX29GYW8tRiw2JC1GLzYjLUYyNiVRInRGJ0Y6Rj1GREZARmluRlxxLUYvNiZGMS1GLzYlLUYyNiVRInhGJ0Y6Rj1GaXFGXHJGQC1JI21uR0YkNiRRIjBGJ0ZERjFGRC8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJy8lKXJvd2FsaWduR0Y0LyUsY29sdW1uYWxpZ25HRjQvJStncm91cGFsaWduR0Y0LyUocm93c3BhbkdGZHAvJStjb2x1bW5zcGFuR0ZkcA==</Equation>.

<Font encoding="UTF-8">\320\242o check the genericity conditions at this point and to determine the bifurcation type (saddle node, transcritical or pitchfork bifurcation), we use  </Font><Font italic="true">calcOneZeroEigenvalueBif </Font> with  input arguments:
- the ODEs system: [ode1, ode2]
- the variables: [s(t), x(t)]
- the bifurcation parameter: d
- the bifurcation point: [s0, 0]
- the bifurcation value of the bifurcation parameter: s0*m/(s0+a)</Text-field>
</Input>
</Group>
<Group labelreference="L1194" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">bnf := BifTools:-calcOneZeroEigenvalueBif([ode1, ode2], [s(t), x(t)], d, [s0, 0], s0*m/(s0+a)):</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">STYtLX5UaGV+T0RFc35zeXN0ZW1+LS1HNiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInNGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUYjNiYtRl9wNiQtRiM2Ji1GVzYlUSNzMEYnRlpGZ24tRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZocUZmb0Y2RjZGY28tRlc2JVEiZEYnRlpGZ25GNkZkcS1GLjYoLUYjNiotRlc2JVEibUYnRlpGZ25GY29GZm9GY28tRiM2KC1GVzYlUSJ4RidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYmLUYjNiYtRlc2JVEiYUYnRlpGZ24tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRkZncUZpcUZmb0Y2Rk1GUEY2RmluRlxvRl9vRmFvRjZGTUZQRjY=">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSJzRzYiNiNJInRHRilGKywmKiYsJkkjczBHRikiIiJGJyEiIkYwSSJkR0YpRjBGMCoqSSJtR0YpRjBGJ0YwLCZJImFHRilGMEYnRjBGMS1JInhHRilGKkYwRjE=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInhGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYmLUZfcDYkLUYjNiYtRi42KC1GIzYoLUZXNiVRIm1GJ0ZaRmduRmNvLUYjNigtRlc2JVEic0YnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUZXNiVRImFGJ0ZaRmduLUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGZnJGZnFGNkZNRlBGNkZpbkZcb0Zfb0Zhby1GMzYtUSgmbWludXM7RidGNkY5RjxGPkZARkJGREZGRmVyRmdyLUZXNiVRImRGJ0ZaRmduRjZGNkZjb0Zmb0Y2Rk1GUEY2">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSJ4RzYiNiNJInRHRilGKyomLCYqKEkibUdGKSIiIi1JInNHRilGKkYwLCZJImFHRilGMEYxRjAhIiJGMEkiZEdGKUY1RjBGJ0Yw</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">STwtLX5UaGV+YmlmdXJjYXRpb25+cG9pbnR+LS1HNiI=</Equation></Text-field>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSShtZmVuY2VkR0YkNiYtRiM2KC1GIzYoLUkjbWlHRiQ2JVEic0YnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RMCZBcHBseUZ1bmN0aW9uO0YnL0Y8USdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGRi8lKXN0cmV0Y2h5R0ZGLyUqc3ltbWV0cmljR0ZGLyUobGFyZ2VvcEdGRi8lLm1vdmFibGVsaW1pdHNHRkYvJSdhY2NlbnRHRkYvJSdsc3BhY2VHUSYwLjBlbUYnLyUncnNwYWNlR0ZVLUYuNiQtRiM2Ji1GNTYlUSJ0RidGOEY7LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0ZGRkJGQkZpbkZcb0ZCLUY/Ni1RIixGJ0ZCRkQvRkhGOkZJRktGTUZPRlFGUy9GV1EsMC4zMzMzMzMzZW1GJy1GIzYoLUY1NiVRInhGJ0Y4RjtGPkZYRmluRlxvRkJGaW5GXG9GQkZCLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnLUY/Ni1RIj1GJ0ZCRkRGR0ZJRktGTUZPRlEvRlRRLDAuMjc3Nzc3OGVtRicvRldGY3AtRi42Ji1GIzYoLUY1NiVRI3MwRidGOEY7Rl5vLUkjbW5HRiQ2JFEiMEYnRkJGaW5GXG9GQkZCRmlvRlxwRmluRlxvRkJGXm8tRiM2KC1GNTYlUSJkRidGOEY7Rl9wLUkmbWZyYWNHRiQ2KC1GIzYoRmlwLUY/Ni1RMSZJbnZpc2libGVUaW1lcztGJ0ZCRkRGR0ZJRktGTUZPRlFGU0ZWLUY1NiVRIm1GJ0Y4RjtGaW5GXG9GQi1GIzYmLUYjNiZGaXAtRj82LVEiK0YnRkJGREZHRklGS0ZNRk9GUS9GVFEsMC4yMjIyMjIyZW1GJy9GV0Zoci1GNTYlUSJhRidGOEY7RkJGaW5GXG9GQi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGYnMvJSliZXZlbGxlZEdGRkZpbkZcb0ZCRmluRlxvRkI=">NiQvNyQtSSJzRzYiNiNJInRHRictSSJ4R0YnRig3JEkjczBHRiciIiEvSSJkR0YnKihGLSIiIkkibUdGJ0YyLCZGLUYySSJhR0YnRjIhIiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">SUAtLX5SZXN1bHRzfmZyb21+dGhlfmFuYWx5c2lzfi0tRzYi</Equation></Text-field>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">UTlUaGV+cmVkdWNlZH5PREVzfnN5c3RlbTo2Ig==</Equation></Text-field>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI19YRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Jy1GMzYtUSomdW1pbnVzMDtGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGX3EtRi42KC1GIzYqLUZXNiVRIm1GJ0ZaRmduRmNvLUZXNiVRImFGJ0ZaRmduRmNvLUklbXN1cEdGJDYlRmZvLUkjbW5HRiQ2JFEiMkYnRjYvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRk1GUEY2LUYjNiYtRlxyNiUtRl9wNiQtRiM2Ji1GVzYlUSNzMEYnRlpGZ24tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRkZecUZgcUZocUY2RjZGXnJGYnJGTUZQRjZGaW5GXG9GX29GYW8tRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRkZecUZgcS1GIzYmRmZvRmNvLUZXNiVRJyYjOTQ3O0YnL0ZlbkY7RjZGNkY2Rk1GUEY2">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSNfWEc2JEYlSShfc3lzbGliRzYiNiNJInRHRitGLSwmKipJIm1HRisiIiJJImFHRitGMSksJkkjczBHRitGMUYyRjEiIiMhIiIpRidGNkYxRjcqJkYnRjFJJmdhbW1hR0YlRjFGNw==</Equation></Text-field>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSZnYW1tYUdGJTYjSSJ0RzYiRioiIiE=</Equation></Text-field>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">UVRUcmFuc2NyaXRpY2FsfmJpZnVyY2F0aW9ufm9mfnRoZX5lcXVpbGlicml1bX5wb2ludC42Ig==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">UVZFaWdlbnZhbHVlc35vZn50aGV+SmFjb2JpYW5+YXR+dGhlfmVxdWlsaWJyaXVtfnBvaW50OjYi</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUkobWZlbmNlZEc2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYmLUklbXJvd0dGJDYoLUkjbW5HRiQ2JFEiMEYnLyUsbWF0aHZhcmlhbnRHUSdub3JtYWxGJy1JI21vR0YkNi1RIixGJ0YyLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR1EldHJ1ZUYnLyUpc3RyZXRjaHlHRjsvJSpzeW1tZXRyaWNHRjsvJShsYXJnZW9wR0Y7LyUubW92YWJsZWxpbWl0c0dGOy8lJ2FjY2VudEdGOy8lJ2xzcGFjZUdRJjAuMGVtRicvJSdyc3BhY2VHUSwwLjMzMzMzMzNlbUYnLUYsNictRjY2LVEqJnVtaW51czA7RidGMkY5L0Y9RjtGP0ZBRkNGRUZHL0ZKUSwwLjIyMjIyMjJlbUYnL0ZNRlYtSSZtZnJhY0dGJDYoLUYsNigtSSNtaUdGJDYlUSNzMEYnLyUnaXRhbGljR0Y+L0YzUSdpdGFsaWNGJy1GNjYtUTEmSW52aXNpYmxlVGltZXM7RidGMkY5RlRGP0ZBRkNGRUZHRkkvRk1GSy1GaG42JVEibUYnRltvRl1vLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y7RjItRiw2Ji1GLDYmRmduLUY2Ni1RIitGJ0YyRjlGVEY/RkFGQ0ZFRkdGVUZXLUZobjYlUSJhRidGW29GXW9GMkZmb0Zpb0YyLyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0ZqcC8lKWJldmVsbGVkR0Y7RmZvRmlvRjJGZm9GaW9GMkYyLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYn">NyQiIiEsJCooSSNzMEc2IiIiIkkibUdGJ0YoLCZGJkYoSSJhR0YnRighIiJGLA==</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1197" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">The output of the procedure reports that the ODE system has a transcritical bifurcation at the bifurcation point <Equation executable="false" style="2D Math" input-equation="">LUkkbXRkRzYjL0krbW9kdWxlbmFtZUc2IkksVHlwZXNldHRpbmdHSShfc3lzbGliR0YnNigtSShtZmVuY2VkR0YkNiYtSSVtcm93R0YkNiktSSNtaUdGJDYjUSFGJy1GLzYlLUYyNiVRImRGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRj5RJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZILyUpc3RyZXRjaHlHRkgvJSpzeW1tZXRyaWNHRkgvJShsYXJnZW9wR0ZILyUubW92YWJsZWxpbWl0c0dGSC8lJ2FjY2VudEdGSC8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlctSSZtZnJhY0dGJDYoLUYvNiUtRjI2JVEjczBGJ0Y6Rj0tRkE2LVExJkludmlzaWJsZVRpbWVzO0YnRkRGRkZJRktGTUZPRlFGUy9GVlEmMC4wZW1GJy9GWUZgby1GMjYlUSJtRidGOkY9LUYvNiVGMS1GLzYlRmluLUZBNi1RIitGJ0ZERkZGSUZLRk1GT0ZRRlMvRlZRLDAuMjIyMjIyMmVtRicvRllGXXAtRjI2JVEiYUYnRjpGPUYxLyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0ZncC8lKWJldmVsbGVkR0ZILUZBNi1RIixGJ0ZERkYvRkpGPEZLRk1GT0ZRRlNGX28vRllRLDAuMzMzMzMzM2VtRictRi82JkYxLUYvNiUtRjI2JVEic0YnRjpGPS1GQTYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZERkZGSUZLRk1GT0ZRRlNGX29GYW8tRiw2JC1GLzYjLUYyNiVRInRGJ0Y6Rj1GREZARmluRlxxLUYvNiZGMS1GLzYlLUYyNiVRInhGJ0Y6Rj1GaXFGXHJGQC1JI21uR0YkNiRRIjBGJ0ZERjFGRC8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJy8lKXJvd2FsaWduR0Y0LyUsY29sdW1uYWxpZ25HRjQvJStncm91cGFsaWduR0Y0LyUocm93c3BhbkdGZHAvJStjb2x1bW5zcGFuR0ZkcA==</Equation>. </Text-field>
</Input>
</Group>
</Section>
</Section>
<Text-field style="Text" layout="Normal"></Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">The Method of resultants for finding the Hopf bifurcation points</Text-field></Title>
<Text-field style="Text" layout="Normal" bulletsuffix=".">To find a bifurcation point of system (1), we need some test functions. The test function<Font background="[255,255,255]"> <Font italic="true">det D<Font subscript="true">x</Font> f(x0 ,</Font></Font><Font encoding="UTF-8">\316\261</Font><Font background="[255,255,255]" italic="true">0) = 0</Font><Font background="[255,255,255]">  is used by the procedure </Font><Font italic="true">calcOneZeroEigenvalueBifPoints</Font> for finding one-zero-eigenvalue bifurcations (see the example above). The <Font italic="true">method of resultants</Font> proposes an analytical test function for finding the Hopf bifurcation points. An algorithm, based on the <Font italic="true">method of resultants, </Font>is presented in [4], [7], [8] and is implemented in Maple as a part of the package <Font italic="true">BifTools.</Font> The procedure for computing the Hopf bifurcation points is <Font italic="true">calcHopfBifPoints</Font> and requires as Maple input: the ODE system, the phase variables and the bifurcation parameter, and returns the Hopf bifurcation points and their so-called Hopf numbers. An example demonstrating the facilities of this procedure is given below.</Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Example - BifTools[calcHopfBifPoints]</Text-field></Title>
<Text-field style="Text" layout="Normal"><Font encoding="UTF-8">Consider the ODE system of the Pilyugin-Waltman\342\200\231s </Font>model [5], which describes  the competition in the chemostat exhibiting limit cycles. The model has two parameters <Font italic="true">c</Font> and <Font italic="true">m2 </Font>and takes the form:</Text-field>
<Group labelreference="L938" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">c := 'c': m2 := 'm2':

ode1 := diff(s(t), t) = 1 - s(t) - ((2*s(t))/(7/10+s(t)))*(x1(t)/(1+c*s(t)^3)) - ((m2*s(t))/(65/10+s(t)))*(x2(t)/120):
ode2 := diff(x1(t), t) = ((2*s(t))/(7/10+s(t)) - 1)*x1(t):
ode3 := diff(x2(t), t) = ((m2*s(t))/(65/10+s(t)) - 1)*x2(t):

ode1; ode2; ode3;</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInNGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYqLUkjbW5HRiQ2JEZbb0Y2LUYzNi1RKCZtaW51cztGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGYnFGZm9GXnEtRi42KC1GIzYqLUZccTYkUSIyRidGNkZjb0Zmb0Zjby1GIzYoLUZXNiVRI3gxRidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYoLUZfcDYkLUYjNiYtRi42KC1GXHE2JFEiN0YnRjYtRlxxNiRRIzEwRidGNkZpbkZcb0Zfb0Zhby1GMzYtUSIrRidGNkY5RjxGPkZARkJGREZGRmFxRmNxRmZvRjZGNkZjby1GX3A2JC1GIzYmRltxRl5zLUYjNiYtRlc2JVEiY0YnRlpGZ25GY28tSSVtc3VwR0YkNiVGZm8tRlxxNiRRIjNGJ0Y2LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0Y2RjZGNkZNRlBGNkZpbkZcb0Zfb0Zhb0ZecS1GIzYoLUYuNihGW3EtRlxxNiRRJDEyMEYnRjZGaW5GXG9GX29GYW9GY28tRi42KC1GIzYqLUZXNiVRI20yRidGWkZnbkZjb0Zmb0Zjby1GIzYoLUZXNiVRI3gyRidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYmLUYjNiYtRi42KC1GXHE2JFEjMTNGJ0Y2RmhxRmluRlxvRl9vRmFvRl5zRmZvRjZGTUZQRjZGaW5GXG9GX29GYW9GTUZQRjZGNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSJzRzYiNiNJInRHRilGKywqIiIiRi1GJyEiIiosIiIjRi1GJ0YtLCYjIiIoIiM1Ri1GJ0YtRi4tSSN4MUdGKUYqRi0sJkYtRi0qJkkiY0dGKUYtKUYnIiIkRi1GLUYuRi4qLCNGLSIkPyJGLUkjbTJHRilGLUYnRi0sJiMiIzhGMEYtRidGLUYuLUkjeDJHRilGKkYtRi4=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gxRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Ji1GX3A2JC1GIzYmLUYuNigtRiM2KC1JI21uR0YkNiRRIjJGJ0Y2RmNvLUYjNigtRlc2JVEic0YnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUYuNigtRmRxNiRRIjdGJ0Y2LUZkcTYkUSMxMEYnRjZGaW5GXG9GX29GYW8tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZcc0ZncUY2Rk1GUEY2RmluRlxvRl9vRmFvLUYzNi1RKCZtaW51cztGJ0Y2RjlGPEY+RkBGQkZERkZGW3NGXXMtRmRxNiRGW29GNkY2RjZGY29GZm9GNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4MUc2IjYjSSJ0R0YpRisqJiwmKigiIiMiIiItSSJzR0YpRipGMCwmIyIiKCIjNUYwRjFGMCEiIkYwRjBGN0YwRidGMA==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gyRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Ji1GX3A2JC1GIzYmLUYuNigtRiM2KC1GVzYlUSNtMkYnRlpGZ25GY28tRiM2KC1GVzYlUSJzRidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYmLUYjNiYtRi42KC1JI21uR0YkNiRRIzEzRidGNi1GYnI2JFEiMkYnRjZGaW5GXG9GX29GYW8tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZcc0ZmcUY2Rk1GUEY2RmluRlxvRl9vRmFvLUYzNi1RKCZtaW51cztGJ0Y2RjlGPEY+RkBGQkZERkZGW3NGXXMtRmJyNiRGW29GNkY2RjZGY29GZm9GNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4Mkc2IjYjSSJ0R0YpRisqJiwmKihJI20yR0YpIiIiLUkic0dGKUYqRjAsJiMiIzgiIiNGMEYxRjAhIiJGMEYwRjdGMEYnRjA=</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L942" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">In [5], <Font italic="true">c </Font>is fixed <Font italic="true">(c=50)</Font>  and <Font italic="true">m2 </Font>is<Font italic="true"> </Font>considered as a bifurcation parameter. In this example we fix <Font italic="true">m2 = 10</Font>  and  consider <Font encoding="UTF-8" italic="true">c \342\211\245 0</Font> as a bifurcation parameter, see [1]. </Text-field>
</Input>
</Group>
<Group labelreference="L1168" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">m2 := 10;</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEjbTJGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkjbW5HRiQ2JFEjMTBGJ0Y5LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9Rjk=">IiM1</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1170" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">To calculate the Hopf bifurcation points of the model, we use the procedure <Font italic="true">calcHopfBifPoints</Font>  with the input arguments:
- the ODE system: [ode1, ode2, ode3]
- the phase variables: [s(t), x1(t), x2(t)]
- the bifurcation parameter: c
- additional conditions for the variables and the parameters: {s(t) &gt;= 0, x1(t) &gt;= 0, x2(t) &gt;= 0, c &gt;= 0}</Text-field>
</Input>
</Group>
<Group labelreference="L1169" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">BifTools:-calcHopfBifPoints([ode1, ode2, ode3], [s(t), x1(t), x2(t)], c, {s(t) &gt;= 0, x1(t) &gt;= 0, x2(t) &gt;= 0, c &gt;= 0});</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">STYtLX5UaGV+T0RFc35zeXN0ZW1+LS1HNiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRInNGJ0ZaRmduLUYzNi1RMCZBcHBseUZ1bmN0aW9uO0YnRjZGOUY8Rj5GQEZCRkRGRkZIRkstSShtZmVuY2VkR0YkNiQtRiM2JkZWRk1GUEY2RjZGTUZQRjZGTUZQRjYtRjM2LVEiPUYnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yNzc3Nzc4ZW1GJy9GTEZncC1GIzYqLUkjbW5HRiQ2JEZbb0Y2LUYzNi1RKCZtaW51cztGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGYnFGZm9GXnEtRi42KC1GIzYqLUZccTYkUSIyRidGNkZjb0Zmb0Zjby1GIzYoLUZXNiVRI3gxRidGWkZnbkZbcEZecEZNRlBGNkZNRlBGNi1GIzYoLUZfcDYkLUYjNiYtRi42KC1GXHE2JFEiN0YnRjYtRlxxNiRRIzEwRidGNkZpbkZcb0Zfb0Zhby1GMzYtUSIrRidGNkY5RjxGPkZARkJGREZGRmFxRmNxRmZvRjZGNkZjby1GX3A2JC1GIzYmRltxRl5zLUYjNiYtRlc2JVEiY0YnRlpGZ25GY28tSSVtc3VwR0YkNiVGZm8tRlxxNiRRIjNGJ0Y2LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0Y2RjZGNkZNRlBGNkZpbkZcb0Zfb0Zhb0ZecS1GIzYoLUYuNihGW3EtRlxxNiRRIzEyRidGNkZpbkZcb0Zfb0Zhb0Zjby1GLjYoLUYjNihGZm9GY28tRiM2KC1GVzYlUSN4MkYnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUYuNigtRlxxNiRRIzEzRidGNkZocUZpbkZcb0Zfb0Zhb0Zec0Zmb0Y2Rk1GUEY2RmluRlxvRl9vRmFvRk1GUEY2RjZGTUZQRjY=">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSJzRzYiNiNJInRHRilGKywqIiIiRi1GJyEiIiosIiIjRi1GJ0YtLCYjIiIoIiM1Ri1GJ0YtRi4tSSN4MUdGKUYqRi0sJkYtRi0qJkkiY0dGKUYtKUYnIiIkRi1GLUYuRi4qKiNGLSIjN0YtRidGLSwmIyIjOEYwRi1GJ0YtRi4tSSN4MkdGKUYqRi1GLg==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gxRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Ji1GX3A2JC1GIzYmLUYuNigtRiM2KC1JI21uR0YkNiRRIjJGJ0Y2RmNvLUYjNigtRlc2JVEic0YnRlpGZ25GW3BGXnBGTUZQRjZGTUZQRjYtRiM2Ji1GIzYmLUYuNigtRmRxNiRRIjdGJ0Y2LUZkcTYkUSMxMEYnRjZGaW5GXG9GX29GYW8tRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZcc0ZncUY2Rk1GUEY2RmluRlxvRl9vRmFvLUYzNi1RKCZtaW51cztGJ0Y2RjlGPEY+RkBGQkZERkZGW3NGXXMtRmRxNiRGW29GNkY2RjZGY29GZm9GNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4MUc2IjYjSSJ0R0YpRisqJiwmKigiIiMiIiItSSJzR0YpRipGMCwmIyIiKCIjNUYwRjFGMCEiIkYwRjBGN0YwRidGMA==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gyRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Ji1GX3A2JC1GIzYmLUYuNigtRiM2KC1JI21uR0YkNiRRIzEwRidGNkZjby1GIzYoLUZXNiVRInNGJ0ZaRmduRltwRl5wRk1GUEY2Rk1GUEY2LUYjNiYtRiM2Ji1GLjYoLUZkcTYkUSMxM0YnRjYtRmRxNiRRIjJGJ0Y2RmluRlxvRl9vRmFvLUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGXHNGZ3FGNkZNRlBGNkZpbkZcb0Zfb0Zhby1GMzYtUSgmbWludXM7RidGNkY5RjxGPkZARkJGREZGRltzRl1zLUZkcTYkRltvRjZGNkY2RmNvRmZvRjZGTUZQRjY=">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4Mkc2IjYjSSJ0R0YpRisqJiwmKigiIzUiIiItSSJzR0YpRipGMCwmIyIjOCIiI0YwRjFGMCEiIkYwRjBGN0YwRidGMA==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">UVhUaGV+SG9wZn5iaWZ1cmNhdGlvbn5wb2ludHN+YW5kfnRoZWlyfkhvcGZ+bnVtYmVyfmFyZTp+NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NyQ3Ji9JImNHNiIjIiYrcSIiJFYkLy1JInNHRiY2I0kidEdGJiMiIigiIzUvLUkjeDFHRiZGLSMiI0YiIiYvLUkjeDJHRiZGLSIiISMhIiQiIzk=</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1172" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">As a result the procedure returns one Hopf bifurcation point <Equation executable="false" style="2D Math" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkobWZlbmNlZEdGJDYmLUYjNi0tRiM2KS1JI21pR0YkNiVRImNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjpRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZELyUpc3RyZXRjaHlHRkQvJSpzeW1tZXRyaWNHRkQvJShsYXJnZW9wR0ZELyUubW92YWJsZWxpbWl0c0dGRC8lJ2FjY2VudEdGRC8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlMtSSZtZnJhY0dGJDYoLUkjbW5HRiQ2JFEmMTcwMDBGJ0ZALUZaNiRRJDM0M0YnRkAvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRl9vLyUpYmV2ZWxsZWRHRkQvJStmb3JlZ3JvdW5kR1EqWzAsMCwyNTVdRicvJSlyZWFkb25seUdGOC8lMGZvbnRfc3R5bGVfbmFtZUdRKjJEfk91dHB1dEYnRkAtRj02LVEiLEYnRkBGQi9GRkY4RkdGSUZLRk1GTy9GUlEmMC4wZW1GJy9GVVEsMC4zMzMzMzMzZW1GJy1GIzYpLUYjNiktRjM2JVEic0YnRjZGOS1GPTYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZARkJGRUZHRklGS0ZNRk9GYHAvRlVGYXAtRiw2JC1GIzYnLUYzNiVRInRGJ0Y2RjlGZG9GZ29GaW9GQEZARmRvRmdvRmlvRkBGPC1GVzYoLUZaNiRRIjdGJ0ZALUZaNiRRIzEwRidGQEZqbkZdb0Zgb0Zib0Zkb0Znb0Zpb0ZARlxwLUYjNiktRiM2KS1GMzYlUSN4MUYnRjZGOUZbcUZfcUZkb0Znb0Zpb0ZARjwtRlc2KC1GWjYkUSMyN0YnRkAtRlo2JFEiNUYnRkBGam5GXW9GYG9GYm9GZG9GZ29GaW9GQEZccC1GIzYpLUYjNiktRjM2JVEjeDJGJ0Y2RjlGW3FGX3FGZG9GZ29GaW9GQEY8LUZaNiRRIjBGJ0ZARmRvRmdvRmlvRkBGZG9GZ29GaW9GQEZALyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnLUYzNiNRIUYnRmRvRmdvRmlvRkA=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkobWZlbmNlZEdGJDYmLUYjNi0tRiM2KS1JI21pR0YkNiVRImNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjpRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZELyUpc3RyZXRjaHlHRkQvJSpzeW1tZXRyaWNHRkQvJShsYXJnZW9wR0ZELyUubW92YWJsZWxpbWl0c0dGRC8lJ2FjY2VudEdGRC8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlMtSSZtZnJhY0dGJDYoLUkjbW5HRiQ2JFEmMTcwMDBGJ0ZALUZaNiRRJDM0M0YnRkAvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRl9vLyUpYmV2ZWxsZWRHRkQvJStmb3JlZ3JvdW5kR1EqWzAsMCwyNTVdRicvJSlyZWFkb25seUdGOC8lMGZvbnRfc3R5bGVfbmFtZUdRKjJEfk91dHB1dEYnRkAtRj02LVEiLEYnRkBGQi9GRkY4RkdGSUZLRk1GTy9GUlEmMC4wZW1GJy9GVVEsMC4zMzMzMzMzZW1GJy1GIzYpLUYjNiktRjM2JVEic0YnRjZGOS1GPTYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZARkJGRUZHRklGS0ZNRk9GYHAvRlVGYXAtRiw2JC1GIzYnLUYzNiVRInRGJ0Y2RjlGZG9GZ29GaW9GQEZARmRvRmdvRmlvRkBGPC1GVzYoLUZaNiRRIjdGJ0ZALUZaNiRRIzEwRidGQEZqbkZdb0Zgb0Zib0Zkb0Znb0Zpb0ZARlxwLUYjNiktRiM2KS1GMzYlUSN4MUYnRjZGOUZbcUZfcUZkb0Znb0Zpb0ZARjwtRlc2KC1GWjYkUSMyN0YnRkAtRlo2JFEiNUYnRkBGam5GXW9GYG9GYm9GZG9GZ29GaW9GQEZccC1GIzYpLUYjNiktRjM2JVEjeDJGJ0Y2RjlGW3FGX3FGZG9GZ29GaW9GQEY8LUZaNiRRIjBGJ0ZARmRvRmdvRmlvRkBGZG9GZ29GaW9GQEZALyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnLUYzNiNRIUYnRmRvRmdvRmlvRkA=</Equation>. In the next example we shall calculate the Hopf bifurcation normal form of the system at this point.</Text-field>
</Input>
</Group>
</Section>
</Section>
<Text-field style="Text" layout="Normal"></Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Hopf Bifurcation</Text-field></Title>
<Text-field style="Text" layout="Normal">Again, without loss of generality let us assume that <Font encoding="UTF-8" italic="true">(x, \316\261) = </Font>(0, 0) is a fixed point of the system (1). Assume also that the linearization <Font italic="true">D<Font subscript="true">x </Font><Font encoding="UTF-8">f(0, \316\261) </Font></Font>of (1) has at <Font italic="true">(</Font>0<Font encoding="UTF-8" italic="true">, \316\261)</Font> for sufficiently small |<Font encoding="UTF-8" italic="true">\316\261</Font>| a pair of complex conjugate eigenvalues <Font background="[255,255,255]" encoding="UTF-8" italic="true">\316\273</Font><Font subscript="true" background="[255,255,255]" italic="true">1,2</Font><Font background="[255,255,255]" encoding="UTF-8" italic="true">(\316\261) = \316\273</Font><Font subscript="true" background="[255,255,255]" italic="true">R</Font><Font background="[255,255,255]" encoding="UTF-8" italic="true">(\316\261) \302\261 i \316\273</Font><Font subscript="true" background="[255,255,255]" italic="true">I</Font><Font background="[255,255,255]" encoding="UTF-8" italic="true">(\316\261)</Font><Font background="[255,255,255]">, where<Font italic="true"> <Font encoding="UTF-8">\316\273</Font><Font subscript="true">R</Font></Font>(0)<Font italic="true"> = 0</Font> and <Font encoding="UTF-8" italic="true">\316\273</Font><Font subscript="true" italic="true">I</Font>(0)<Font italic="true"> &gt; 0</Font></Font>. If the following genericity conditions hold true:</Text-field>
<Text-field style="Text" layout="Normal">	<Font italic="true">l<Font subscript="true">1</Font></Font>(0)<Font italic="true"> <Font encoding="UTF-8">\342\211\240</Font> </Font>0, where <Font italic="true">l<Font subscript="true">1</Font></Font>(0)<Font italic="true"> </Font>is the first Lyapunov coefficient;</Text-field>
<Text-field style="Text" layout="Normal">	<Font background="[255,255,255]" encoding="UTF-8" italic="true">\316\273</Font><Font subscript="true" background="[255,255,255]" italic="true">R</Font><Font background="[255,255,255]" italic="true">'</Font><Font background="[255,255,255]">(0)<Font italic="true"> </Font></Font><Font encoding="UTF-8" italic="true">\342\211\240</Font><Font background="[255,255,255]">0<Font italic="true">  </Font></Font>(transversality condition),</Text-field>
<Text-field style="Text" layout="Normal">then  the dynamics (1) is topologically equivalent near the fixed point to the normal form (see [6], [9]):</Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font italic="true">	<Font encoding="UTF-8">\316\276' = \317\203</Font><Font subscript="true">0</Font><Font encoding="UTF-8"> \316\263 \316\276 - \316\267 + \317\203</Font><Font subscript="true">1</Font><Font encoding="UTF-8">(\316\276</Font><Font superscript="true">2 </Font><Font encoding="UTF-8">+ \316\267</Font><Font superscript="true">2</Font><Font encoding="UTF-8">) \316\276</Font></Font></Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font encoding="UTF-8" italic="true">	\316\267' = \316\276 + \317\203</Font><Font subscript="true" italic="true">0</Font><Font italic="true"> <Font encoding="UTF-8">\316\263 \316\267 + \317\203</Font><Font subscript="true">1</Font><Font encoding="UTF-8">(\316\276</Font><Font superscript="true">2</Font><Font encoding="UTF-8"> + \316\267</Font><Font superscript="true">2</Font><Font encoding="UTF-8">) \316\267.</Font></Font></Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix=".">where <Font encoding="UTF-8">\317\203</Font><Font subscript="true">0 </Font><Font background="[255,255,255]" encoding="UTF-8" italic="true">= sign \316\273</Font><Font subscript="true" background="[255,255,255]" italic="true">R</Font><Font background="[255,255,255]" italic="true">'</Font><Font background="[255,255,255]">(0)<Font italic="true"> = </Font></Font><Font encoding="UTF-8">\302\2611</Font><Font italic="true"> </Font>and <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = sign l<Font subscript="true">1</Font></Font>(0)<Font italic="true"> = </Font><Font encoding="UTF-8">\302\2611</Font>. The origin (0,0)<Font italic="true"> </Font>is a fixed point of the normal form; moreover, if</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="." bullet="dot"><Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">0</Font><Font italic="true"> = </Font>+1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">1</Font> = </Font>+1: the origin (0, 0)<Font italic="true"> </Font>is asymptotically stable for <Font encoding="UTF-8" italic="true">\316\263</Font> <Font encoding="UTF-8">\342\211\244</Font> 0 (weakly at <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> = </Font>0) and unstable for <Font encoding="UTF-8" italic="true">\316\263</Font> &gt; 0; an unstable limit cycle exists for <Font encoding="UTF-8" italic="true">\316\263</Font> &lt; 0. Moreover, there is a unique and unstable cycle that exists for<Font italic="true"> <Font encoding="UTF-8">\316\263</Font> </Font>&lt;<Font italic="true"> </Font>0<Font italic="true"> </Font>and has a radius <Font italic="true">sqrt(<Font encoding="UTF-8">\316\263</Font>)</Font>. In this case we have a <Font italic="true">subcritical</Font> Hopf bifurcation (see Figure 4).</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="." bullet="dot"><Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">0</Font><Font italic="true"> = </Font>-1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">1</Font> = </Font>+1: the origin (0, 0) is asymptotically stable for <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&gt;<Font italic="true"> </Font>0 and unstable for <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&lt;<Font italic="true"> </Font>0; an unstable limit cycle exists for <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&gt;<Font italic="true"> </Font>0 (<Font italic="true">subcritical </Font>Hopf bifurcation).</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="." bullet="dot"><Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">0</Font><Font italic="true"> = -</Font>1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">1</Font> = -</Font>1:  the origin (0, 0) is asymptotically stable for <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&gt;<Font italic="true"> </Font>0 and unstable for <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&lt;<Font italic="true"> </Font>0; a stable limit cycle exists for <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&lt; 0 (<Font italic="true">supercritical</Font> Hopf bifurcation).</Text-field>
<Text-field style="Text" layout="Normal" bulletsuffix="." bullet="dot"><Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">0</Font><Font italic="true"> = </Font>+1<Font italic="true">, <Font encoding="UTF-8">\317\203</Font><Font subscript="true">1</Font> = </Font>-1: the origin (0, 0)<Font italic="true"> </Font>is asymptotically stable for <Font encoding="UTF-8" italic="true">\316\263</Font> &lt; 0 and unstable for <Font encoding="UTF-8" italic="true">\316\263</Font> &gt; 0; a stable limit cycle exists for <Font encoding="UTF-8" italic="true">\316\263</Font> &gt; 0 (<Font italic="true">supercritical</Font> Hopf bifurcation, see Figure 5). </Text-field><Table alignment="left" showinput="true" interior="group" order="row" exterior="all" width="100%" randomized="false" showlabel="true" plotalignlists="" postexecute="insert" pagebreak="cell" showgroup="true"><Table-Column weight="100" separator="true"></Table-Column><Table-Row align="top" separator="true"><Table-Cell columnspan="1" backgroundstyle="0" rowspan="1" fillcolor="[255,255,255]">
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<Text-field style="Text" layout="Normal" alignment="centred">Figure 5: Supercritical Hopf bifurcation in the case <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">0</Font><Font italic="true"> = </Font>+1<Font encoding="UTF-8" italic="true">, \317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = </Font>-1; 
(a) <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&lt;<Font italic="true"> </Font>0; (b) <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> = </Font>0; (c) <Font encoding="UTF-8" italic="true">\316\263</Font><Font italic="true"> </Font>&gt; 0</Text-field></Table-Cell></Table-Row></Table>
<Text-field style="Text" layout="Normal" bulletsuffix=".">An algorithm for computing the first Lyapunov coefficient is presented in [7]. Having the first Lyapunov coefficient we can easily find the normal form of the Hopf bifurcation and determine its type (e. g. <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1</Font><Font italic="true"> = l<Font subscript="true">1</Font></Font>(0) &lt; 0 - supercitical, <Font encoding="UTF-8" italic="true">\317\203</Font><Font subscript="true" italic="true">1 </Font><Font italic="true">= l<Font subscript="true">1</Font></Font>(0) &gt; 0 - subcritical). This algorithm is implemented in Maple as a part of the package <Font italic="true">BifTools</Font>. The main procedure for calculating the first Lyapunov coefficient is <Font italic="true">calcHopfBif</Font>. The procedure requires as Maple input: the ODE system, the phase variables, the bifurcation parameter, the critical steady state and the parameter bifurcation value. Examples demonstrating the facilities of the procedure can be found below.</Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Example - BifTools [calcHopfBif]</Text-field></Title>
<Text-field style="Text" layout="Normal">In the previous example  we found that the ODE system of the Pilyugin-Waltman model has the Hopf bifurcation point<Equation executable="false" style="2D Math" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkobWZlbmNlZEdGJDYmLUYjNi0tRiM2KS1JI21pR0YkNiVRImNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjpRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZELyUpc3RyZXRjaHlHRkQvJSpzeW1tZXRyaWNHRkQvJShsYXJnZW9wR0ZELyUubW92YWJsZWxpbWl0c0dGRC8lJ2FjY2VudEdGRC8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlMtSSZtZnJhY0dGJDYoLUkjbW5HRiQ2JFEmMTcwMDBGJ0ZALUZaNiRRJDM0M0YnRkAvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRl9vLyUpYmV2ZWxsZWRHRkQvJStmb3JlZ3JvdW5kR1EqWzAsMCwyNTVdRicvJSlyZWFkb25seUdGOC8lMGZvbnRfc3R5bGVfbmFtZUdRKjJEfk91dHB1dEYnRkAtRj02LVEiLEYnRkBGQi9GRkY4RkdGSUZLRk1GTy9GUlEmMC4wZW1GJy9GVVEsMC4zMzMzMzMzZW1GJy1GIzYpLUYjNiktRjM2JVEic0YnRjZGOS1GPTYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZARkJGRUZHRklGS0ZNRk9GYHAvRlVGYXAtRiw2JC1GIzYnLUYzNiVRInRGJ0Y2RjlGZG9GZ29GaW9GQEZARmRvRmdvRmlvRkBGPC1GVzYoLUZaNiRRIjdGJ0ZALUZaNiRRIzEwRidGQEZqbkZdb0Zgb0Zib0Zkb0Znb0Zpb0ZARlxwLUYjNiktRiM2KS1GMzYlUSN4MUYnRjZGOUZbcUZfcUZkb0Znb0Zpb0ZARjwtRlc2KC1GWjYkUSMyN0YnRkAtRlo2JFEiNUYnRkBGam5GXW9GYG9GYm9GZG9GZ29GaW9GQEZccC1GIzYpLUYjNiktRjM2JVEjeDJGJ0Y2RjlGW3FGX3FGZG9GZ29GaW9GQEY8LUZaNiRRIjBGJ0ZARmRvRmdvRmlvRkBGZG9GZ29GaW9GQEZALyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnLUYzNiNRIUYnRmRvRmdvRmlvRkA=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkobWZlbmNlZEdGJDYmLUYjNi0tRiM2KS1JI21pR0YkNiVRImNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSI9RicvRjpRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0ZELyUpc3RyZXRjaHlHRkQvJSpzeW1tZXRyaWNHRkQvJShsYXJnZW9wR0ZELyUubW92YWJsZWxpbWl0c0dGRC8lJ2FjY2VudEdGRC8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRlMtSSZtZnJhY0dGJDYoLUkjbW5HRiQ2JFEmMTcwMDBGJ0ZALUZaNiRRJDM0M0YnRkAvJS5saW5ldGhpY2tuZXNzR1EiMUYnLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRl9vLyUpYmV2ZWxsZWRHRkQvJStmb3JlZ3JvdW5kR1EqWzAsMCwyNTVdRicvJSlyZWFkb25seUdGOC8lMGZvbnRfc3R5bGVfbmFtZUdRKjJEfk91dHB1dEYnRkAtRj02LVEiLEYnRkBGQi9GRkY4RkdGSUZLRk1GTy9GUlEmMC4wZW1GJy9GVVEsMC4zMzMzMzMzZW1GJy1GIzYpLUYjNiktRjM2JVEic0YnRjZGOS1GPTYtUTAmQXBwbHlGdW5jdGlvbjtGJ0ZARkJGRUZHRklGS0ZNRk9GYHAvRlVGYXAtRiw2JC1GIzYnLUYzNiVRInRGJ0Y2RjlGZG9GZ29GaW9GQEZARmRvRmdvRmlvRkBGPC1GVzYoLUZaNiRRIjdGJ0ZALUZaNiRRIzEwRidGQEZqbkZdb0Zgb0Zib0Zkb0Znb0Zpb0ZARlxwLUYjNiktRiM2KS1GMzYlUSN4MUYnRjZGOUZbcUZfcUZkb0Znb0Zpb0ZARjwtRlc2KC1GWjYkUSMyN0YnRkAtRlo2JFEiNUYnRkBGam5GXW9GYG9GYm9GZG9GZ29GaW9GQEZccC1GIzYpLUYjNiktRjM2JVEjeDJGJ0Y2RjlGW3FGX3FGZG9GZ29GaW9GQEY8LUZaNiRRIjBGJ0ZARmRvRmdvRmlvRkBGZG9GZ29GaW9GQEZALyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnLUYzNiNRIUYnRmRvRmdvRmlvRkA=</Equation>. Let us enter again the ODE system in <Font italic="true">Maple</Font> and fix the parameter <Font italic="true">m2 = 10</Font>.</Text-field>
<Group labelreference="L1181" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">c := 'c': m2 := 'm2':

ode1 := diff(s(t), t) =1 - s(t) - ((2*s(t))/(7/10+s(t)))*(x1(t)/(1+c*s(t)^3)) - ((m2*s(t))/(65/10+s(t)))*(x2(t)/120):
ode2 := diff(x1(t), t) = ((2*s(t))/(7/10+s(t)) - 1)*x1(t):
ode3 := diff(x2(t), t) = ((m2*s(t))/(65/10+s(t)) - 1)*x2(t):

m2 := 10;</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEjbTJGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkjbW5HRiQ2JFEjMTBGJ0Y5LyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9Rjk=">IiM1</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1183" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">To find the normal form of the Hopf bifurcation at the bifurcation point we use the procedure <Font italic="true">calcHopfBif</Font>  with  input arguments:
- the ODE system: [ode1, ode2, ode3]
- the phase variables: [s(t), x1(t), x2(t)]
- the bifurcation parameter: c
- the bifurcation point: [7/10, 27/5, 0]
- the parameter bifurcation value: 17000/343</Text-field>
</Input>
</Group>
<Group labelreference="L1182" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">BifTools:-calcHopfBif([ode1, ode2, ode3], [s(t), x1(t), x2(t)], c, [7/10, 27/5, 0], 17000/343);</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">STYtLX5UaGV+T0RFc35zeXN0ZW1+LS1HNiI=</Equation></Text-field>
</Output>
<Output>
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<Output>
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<Output>
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</Output>
<Output>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
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<Output>
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</Output>
<Output>
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<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
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<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">UUBUaGV+Zmlyc3R+THlhcHVub3Z+Y29lZmZpY2llbnQ6NiI=</Equation></Text-field>
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<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">UTFUaGV+bm9ybWFsfmZvcm06NiI=</Equation></Text-field>
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<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI19YRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2KS1GMzYtUSomdW1pbnVzMDtGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGX3EtRiM2Ji1GVzYlUScmIzk0NTtGJy9GZW5GO0Y2RmNvRmZvRjYtRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRkZecUZgcS1GIzYoLUZXNiVRI19ZRidGWkZnbkZbcEZecEZNRlBGNkZncS1GIzYmLUZfcDYkLUYjNiYtRiM2JC1JJW1zdXBHRiQ2JUZmby1JI21uR0YkNiRRIjJGJ0Y2LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0Y2LUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkZGXnFGYHEtRiM2JC1GaHI2JUZqcUZqckZec0Y2RjZGNkZjb0Zmb0Y2RjZGTUZQRjY=">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSNfWEc2JEYlSShfc3lzbGliRzYiNiNJInRHRitGLSwoKiZJJmFscGhhR0YrIiIiRidGMSEiIi1JI19ZR0YrRixGMiomLCYqJClGJyIiI0YxRjEqJClGM0Y5RjFGMUYxRidGMUYy</Equation></Text-field>
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<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI19ZRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2KC1GIzYoLUZXNiVRI19YRidGWkZnbkZbcEZecEZNRlBGNi1GMzYtUSgmbWludXM7RidGNkY5RjxGPkZARkJGREZGL0ZJUSwwLjIyMjIyMjJlbUYnL0ZMRmRxLUYjNiYtRlc2JVEnJiM5NDU7RicvRmVuRjtGNkZjb0Zmb0Y2RmBxLUYjNiYtRl9wNiQtRiM2Ji1GIzYkLUklbXN1cEdGJDYlRltxLUkjbW5HRiQ2JFEiMkYnRjYvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRjYtRjM2LVEiK0YnRjZGOUY8Rj5GQEZCRkRGRkZjcUZlcS1GIzYkLUZlcjYlRmZvRmdyRltzRjZGNkY2RmNvRmZvRjZGNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSNfWUc2IjYjSSJ0R0YpRissKC1JI19YRzYkRiVJKF9zeXNsaWJHRilGKiIiIiomSSZhbHBoYUdGKUYxRidGMSEiIiomLCYqJClGLSIiI0YxRjEqJClGJ0Y5RjFGMUYxRidGMUY0</Equation></Text-field>
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<Text-field style="Text" layout="Normal">Analyzing the output we see that the two genericity conditions are satisfied, i. e. <Font background="[255,255,255]" encoding="UTF-8" italic="true">\316\273</Font><Font subscript="true" background="[255,255,255]" italic="true">R</Font><Font background="[255,255,255]" italic="true">' </Font><Font background="[255,255,255]">(0)<Font encoding="UTF-8">\342\211\2400</Font> and <Font italic="true">l<Font subscript="true">1</Font></Font>(0) <Font encoding="UTF-8">\342\211\240 </Font>0;</Font> moreover, since <Font italic="true">sign l<Font subscript="true">1</Font></Font>(0) = -1,  we have a supercritical Hopf bifurcation at the bifurcation point. </Text-field>
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</Section>
</Section>
<Text-field style="Text" layout="Normal"></Text-field>
</Section>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1">Bogdanov-Takens bifurcation</Text-field></Title><Title>
<Text-field style="Text" layout="Normal">Consider the dynamical system</Text-field>
<Text-field style="Text" layout="Normal">	<Font italic="true">x = f (x, <Font encoding="UTF-8">\316\261), x \342\210\210 R</Font><Font superscript="true">n</Font> , <Font encoding="UTF-8">\316\261 \342\210\210 R</Font><Font superscript="true">2</Font> ,</Font></Text-field>
<Text-field style="Text" layout="Normal">where <Font italic="true">f</Font>  is a smooth vector function with respect to <Font italic="true">x</Font> and <Font encoding="UTF-8" italic="true">\316\261</Font>. Suppose that at <Font encoding="UTF-8" italic="true">\316\261</Font> = <Font italic="true">0</Font> the system has an equilibrium <Font italic="true">x = 0  </Font>with two zero eigenvalues and all the remaining eigenvalues have nonzero real parts. If the following genericity conditions are satisfied:</Text-field>
<Text-field style="Text" layout="Normal"><Font encoding="UTF-8">\342\200\242 </Font><Font italic="true">a</Font>(0)<Font italic="true">b</Font>(0)<Font italic="true"> = </Font>0, where <Font italic="true">a</Font>(0) and <Font italic="true">b</Font>(0) are certain quadratic coefficients (see [4], [9]);</Text-field>
<Text-field style="Text" layout="Normal"><Font encoding="UTF-8">\342\200\242 the map </Font><Font italic="true">(<Font encoding="UTF-8">x,\316\261)\342\206\246(f(x,\316\261), Tr(f</Font><Font subscript="true">x</Font><Font encoding="UTF-8">(x,\316\261)), det(f</Font><Font subscript="true">x</Font><Font encoding="UTF-8">(x,\316\261)))</Font></Font> is regular at <Font encoding="UTF-8" italic="true">(x, \316\261)=</Font>(0, 0),</Text-field>
<Text-field style="Text" layout="Normal">then the system is locally topologically equivalent to the normal form:</Text-field></Title>
<Text-field style="Text" layout="Normal"><Font encoding="UTF-8" italic="true">	\316\267</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true">' = \316\267</Font><Font subscript="true" italic="true">2</Font><Font italic="true">,	</Font></Text-field>
<Text-field style="Text" layout="Normal"><Font encoding="UTF-8" italic="true">	\316\267</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">' = \316\262</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> + \316\262</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> \316\267</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> + \316\267</Font><Font subscript="true" italic="true">1</Font><Font superscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> + \317\203\316\267</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> \316\267</Font><Font subscript="true" italic="true">2</Font><Font italic="true">,
</Font>
where <Font encoding="UTF-8" italic="true">\317\203 = sign a</Font>(0)<Font italic="true">b</Font>(0)<Font italic="true"> = </Font><Font encoding="UTF-8">\302\2611</Font>. The local bifurcation diagram of the normal form with<Font encoding="UTF-8" italic="true"> \317\203 = </Font>-1 is presented in Figure 6 (see [10]). The point <Font encoding="UTF-8" italic="true">\316\262 = </Font>0 separates two branches of the saddle-node bifurcation curve (see the blue curve): <Font italic="true">T<Font subscript="true">+</Font> = </Font>{<Font encoding="UTF-8" italic="true">(\316\262</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true">, \316\262</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">) :  \316\262</Font><Font subscript="true" italic="true">1 </Font><Font italic="true">= </Font><Equation executable="false" style="2D Math" input-equation="" display="LUkmbWZyYWNHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2KC1JI21uR0YkNiRRIjFGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRictRiw2JFEiNEYnRi8vJS5saW5ldGhpY2tuZXNzR0YuLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRjkvJSliZXZlbGxlZEdRJmZhbHNlRic=">LUkmbWZyYWNHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2KC1JI21uR0YkNiRRIjFGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRictRiw2JFEiNEYnRi8vJS5saW5ldGhpY2tuZXNzR0YuLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRjkvJSliZXZlbGxlZEdRJmZhbHNlRic=</Equation><Font italic="true"> <Font encoding="UTF-8">\316\262</Font><Font subscript="true">2</Font><Font superscript="true">2</Font><Font encoding="UTF-8">,  \316\262</Font><Font subscript="true">2</Font></Font>&gt;0}<Font italic="true"> </Font>and <Font italic="true">T<Font subscript="true">-</Font> = </Font>{<Font encoding="UTF-8" italic="true">(\316\262</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true">, \316\262</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">) :  \316\262</Font><Font subscript="true" italic="true">1 </Font><Font italic="true">= </Font><Equation executable="false" style="2D Math" input-equation="" display="LUkmbWZyYWNHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2KC1JI21uR0YkNiRRIjFGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRictRiw2JFEiNEYnRi8vJS5saW5ldGhpY2tuZXNzR0YuLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRjkvJSliZXZlbGxlZEdRJmZhbHNlRic=">LUkmbWZyYWNHNiMvSSttb2R1bGVuYW1lRzYiSSxUeXBlc2V0dGluZ0dJKF9zeXNsaWJHRic2KC1JI21uR0YkNiRRIjFGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRictRiw2JFEiNEYnRi8vJS5saW5ldGhpY2tuZXNzR0YuLyUrZGVub21hbGlnbkdRJ2NlbnRlckYnLyUpbnVtYWxpZ25HRjkvJSliZXZlbGxlZEdRJmZhbHNlRic=</Equation><Font encoding="UTF-8" italic="true"> \316\262</Font><Font subscript="true" italic="true">2</Font><Font superscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">,  \316\262</Font><Font subscript="true" italic="true">2</Font>&lt;0}<Font italic="true">. </Font>The half-line <Font italic="true">H = </Font>{<Font italic="true">(<Font encoding="UTF-8">\316\262</Font><Font subscript="true">1</Font><Font encoding="UTF-8">, \316\262</Font><Font subscript="true">2</Font><Font encoding="UTF-8">) :  \316\262</Font><Font subscript="true">1</Font>=</Font>0<Font encoding="UTF-8" italic="true">, \316\262</Font><Font subscript="true" italic="true">2</Font>&lt;0} corresponds to the Hopf bifurcation that generates a stable limit cycle. This cycle exists and remains hyperbolic in the region between the line <Font italic="true">H</Font> and a smooth curve <Font italic="true">P = </Font>{<Font italic="true">(<Font encoding="UTF-8">\316\262</Font><Font subscript="true">1</Font><Font encoding="UTF-8">, \316\262</Font><Font subscript="true">2</Font>) :  <Font encoding="UTF-8">\316\262</Font><Font subscript="true">1</Font>=</Font><Equation executable="false" style="2D Math" input-equation="" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYpLUkjbW9HRiQ2LlEqJnVtaW51czA7RicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y3LyUpc3RyZXRjaHlHRjcvJSpzeW1tZXRyaWNHRjcvJShsYXJnZW9wR0Y3LyUubW92YWJsZWxpbWl0c0dGNy8lJ2FjY2VudEdGNy8lJ2xzcGFjZUdRLDAuMjIyMjIyMmVtRicvJSdyc3BhY2VHRkYtSSZtZnJhY0dGJDYoLUkjbW5HRiQ2JFEiNkYnL0YzUSdub3JtYWxGJy1GIzYkLUZNNiRRIzI1RidGUEZQLyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0Zmbi8lKWJldmVsbGVkR0Y3Ri8vJStmb3JlZ3JvdW5kR1EqWzAsMCwyNTVdRicvJSlyZWFkb25seUdGMS8lMGZvbnRfc3R5bGVfbmFtZUdRKjJEfk91dHB1dEYnRjI=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYpLUkjbW9HRiQ2LlEqJnVtaW51czA7RicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y3LyUpc3RyZXRjaHlHRjcvJSpzeW1tZXRyaWNHRjcvJShsYXJnZW9wR0Y3LyUubW92YWJsZWxpbWl0c0dGNy8lJ2FjY2VudEdGNy8lJ2xzcGFjZUdRLDAuMjIyMjIyMmVtRicvJSdyc3BhY2VHRkYtSSZtZnJhY0dGJDYoLUkjbW5HRiQ2JFEiNkYnL0YzUSdub3JtYWxGJy1GIzYkLUZNNiRRIzI1RidGUEZQLyUubGluZXRoaWNrbmVzc0dRIjFGJy8lK2Rlbm9tYWxpZ25HUSdjZW50ZXJGJy8lKW51bWFsaWduR0Zmbi8lKWJldmVsbGVkR0Y3Ri8vJStmb3JlZ3JvdW5kR1EqWzAsMCwyNTVdRicvJSlyZWFkb25seUdGMS8lMGZvbnRfc3R5bGVfbmFtZUdRKjJEfk91dHB1dEYnRjI=</Equation><Font encoding="UTF-8" italic="true"> \316\262</Font><Font subscript="true" italic="true">2</Font><Font superscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">+O(|\316\262</Font><Font subscript="true" italic="true">2</Font><Font italic="true">|<Font superscript="true">3</Font>), <Font encoding="UTF-8">\316\262</Font><Font subscript="true">2</Font></Font>&lt;0}, at which a saddle homoclinic bifurcation occurs. When the cycle approaches the homoclinic orbit, its period tends to infinity. The case <Font encoding="UTF-8" italic="true">\317\203 =</Font> 1 can be obtained from the previous one by means of the substitution <Font encoding="UTF-8" italic="true">t\342\206\222-t, \316\267</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">\342\206\222-\316\267</Font><Font subscript="true" italic="true">2</Font>. This does not affect the bifurcation curves but the limit cycle becomes unstable.</Text-field><Table alignment="left" showinput="true" interior="group" order="row" exterior="all" width="100%" randomized="false" showlabel="true" plotalignlists="" postexecute="insert" pagebreak="cell" showgroup="true"><Table-Column weight="100" separator="true"></Table-Column><Table-Row align="top" separator="true"><Table-Cell columnspan="1" backgroundstyle="0" rowspan="1" fillcolor="[255,255,255]">
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<Text-field style="Text" layout="Normal" alignment="centred">Figure 6: Bogdanov-Takens bifurcation in the planar system
<Font encoding="UTF-8" italic="true">\316\267</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true">' = \316\267</Font><Font subscript="true" italic="true">2 </Font>and <Font encoding="UTF-8" italic="true">\316\267</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true">' = \316\262</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> + \316\262</Font><Font subscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> \316\267</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> + \316\267</Font><Font subscript="true" italic="true">1</Font><Font superscript="true" italic="true">2</Font><Font encoding="UTF-8" italic="true"> + \317\203\316\267</Font><Font subscript="true" italic="true">1</Font><Font encoding="UTF-8" italic="true"> \316\267</Font><Font subscript="true" italic="true">2</Font><Font subscript="true">.</Font></Text-field></Table-Cell></Table-Row></Table>
<Text-field style="Text" layout="Normal">An algorithm for normal form computation of the Bogdanov-Takens bifurcation is implemented in Maple as a part of the package <Font italic="true">BifTools</Font>. The main procedure for doing this is <Font italic="true">calcBTBif</Font>. It requires as Maple input: the ODE system, the phase variables, the bifurcation parameters, the critical steady state and the parameter bifurcation values. Examples for demonstrating the facilities of this procedure are given below.</Text-field>
<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 2" layout="Heading 2">Example - BifTools[calcBTBif]</Text-field></Title>
<Group labelreference="L1200" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">Enter the ODE system with three phase variables <Font italic="true">x1(t), x2(t), x3(t)</Font> and five parameters: <Font italic="true">a, b, c, e1, e2</Font>:</Text-field>
</Input>
</Group>
<Group labelreference="L1201" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">a:='a': b:='b': c:='c': e1:='e1': e2:='e2':

ode1 := diff(x1(t), t) = -(1 + a^2)*x1(t) + e1*x2(t):
ode2 := diff(x2(t), t) = -e1*x2(t) + c*x2(t)^2 + b*x3(t):
ode3 := diff(x3(t), t) = e2 - c*x2(t)^2:

ode1; ode2; ode3;</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gxRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Jy1GMzYtUSomdW1pbnVzMDtGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGX3EtRiM2Ji1GX3A2JC1GIzYmLUkjbW5HRiQ2JEZbb0Y2LUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkZGXnFGYHEtRiM2JC1JJW1zdXBHRiQ2JS1GVzYlUSJhRidGWkZnbi1GaHE2JFEiMkYnRjYvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRjZGNkY2RmNvRmZvRjZGanEtRiM2Ji1GVzYlUSNlMUYnRlpGZ25GY28tRiM2KC1GVzYlUSN4MkYnRlpGZ25GW3BGXnBGTUZQRjZGNkY2Rk1GUEY2">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4MUc2IjYjSSJ0R0YpRissJiomLCYiIiJGLyokKUkiYUdGKSIiI0YvRi9GL0YnRi8hIiIqJkkjZTFHRilGLy1JI3gyR0YpRipGL0Yv</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gyRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2KS1GMzYtUSomdW1pbnVzMDtGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGX3EtRiM2Ji1GVzYlUSNlMUYnRlpGZ25GY29GZm9GNi1GMzYtUSIrRidGNkY5RjxGPkZARkJGREZGRl5xRmBxLUYjNiYtRlc2JVEiY0YnRlpGZ25GY28tSSVtc3VwR0YkNiVGZm8tSSNtbkdGJDYkUSIyRidGNi8lMXN1cGVyc2NyaXB0c2hpZnRHUSIwRidGNkZmcS1GIzYmLUZXNiVRImJGJ0ZaRmduRmNvLUYjNigtRlc2JVEjeDNGJ0ZaRmduRltwRl5wRk1GUEY2RjZGNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4Mkc2IjYjSSJ0R0YpRissKComSSNlMUdGKSIiIkYnRi8hIiIqJkkiY0dGKUYvKUYnIiIjRi9GLyomSSJiR0YpRi8tSSN4M0dGKUYqRi9GLw==</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gzRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Ji1GVzYlUSNlMkYnRlpGZ24tRjM2LVEoJm1pbnVzO0YnRjZGOUY8Rj5GQEZCRkRGRi9GSVEsMC4yMjIyMjIyZW1GJy9GTEZicS1GIzYmLUZXNiVRImNGJ0ZaRmduRmNvLUklbXN1cEdGJDYlLUYjNigtRlc2JVEjeDJGJ0ZaRmduRltwRl5wRk1GUEY2LUkjbW5HRiQ2JFEiMkYnRjYvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRjZGNkZNRlBGNg==">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4M0c2IjYjSSJ0R0YpRissJkkjZTJHRikiIiIqJkkiY0dGKUYuKS1JI3gyR0YpRioiIiNGLiEiIg==</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1203" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">Consider now <Font italic="true">e1</Font> and <Font italic="true">e2</Font> as bifurcation parameters. It is easy to find (see below) that the linearization of the system has two zero eigenvalues at the point <Font italic="true">(x1, x2, x3) = </Font>(0, 0, 0)<Font italic="true"> </Font> with <Font italic="true">(e1, e2) = </Font>(0, 0) and that the right-hand side of the system becomes zero at this point.

Enter the system equations:</Text-field>
</Input>
</Group>
<Group labelreference="L1207" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">eq1 := -(1 + a^2)*x1 + e1*x2:
eq2 := -e1*x2 + c*x2^2 + b*x3:
eq3 := e2 - c*x2^2:
</Text-field>
</Input>
</Group>
<Group labelreference="L1215" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">Check that the linearization of the system has two zero eigenvalues at the bifurcation point:</Text-field>
</Input>
</Group>
<Group labelreference="L1209" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">J := VectorCalculus:-Jacobian([eq1, eq2, eq3], [x1, x2, x3]);
J_0 := subs([x1 = 0, x2 = 0, x3 = 0, e1 = 0, e2 = 0], J);
J_eigen_values := LinearAlgebra:-Eigenvalues(J_0);</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEiSkYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RIzo9RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRkwtSShtYWN0aW9uR0YkNiUtSShtZmVuY2VkR0YkNigtRiM2Ji1JJ210YWJsZUdGJDY3LUkkbXRyR0YkNigtSSRtdGRHRiQ2KC1GIzYnLUY2Ni1RKiZ1bWludXMwO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yMjIyMjIyZW1GJy9GTkZgby1JI21uR0YkNiRRIjFGJ0Y5LUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkhGX29GYW8tRiM2JC1JJW1zdXBHRiQ2JS1GLDYlUSJhRidGL0YyLUZjbzYkUSIyRidGOS8lMXN1cGVyc2NyaXB0c2hpZnRHUSIwRidGOUY5LyUpcm93YWxpZ25HUSFGJy8lLGNvbHVtbmFsaWduR0ZpcC8lK2dyb3VwYWxpZ25HRmlwLyUocm93c3BhbkdGZW8vJStjb2x1bW5zcGFuR0Zlby1GaG42KC1GLDYlUSNlMUYnRi9GMkZncEZqcEZccUZecUZgcS1GaG42KC1GY282JEZmcEY5RmdwRmpwRlxxRl5xRmBxRmdwRmpwRlxxLUZlbjYoRmdxLUZobjYoLUYjNidGXG9GZHEtRjY2LVEiK0YnRjlGO0Y+RkBGQkZERkZGSEZfb0Zhby1GIzYoRmFwLUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkgvRktRJjAuMGVtRicvRk5GanItRiw2JVEiY0YnRi9GMkZmci1GLDYlUSN4MkYnRi9GMkY5RjlGZ3BGanBGXHFGXnFGYHEtRmhuNigtRiw2JVEiYkYnRi9GMkZncEZqcEZccUZecUZgcUZncEZqcEZccS1GZW42KEZncS1GaG42KC1GIzYnRlxvRmRyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGZ3BGanBGXHFGXnFGYHFGZ3FGZ3BGanBGXHEvJSZhbGlnbkdRJWF4aXNGJy9GaHBRKWJhc2VsaW5lRicvRltxUSdjZW50ZXJGJy9GXXFRJ3xmcmxlZnR8aHJGJy8lL2FsaWdubWVudHNjb3BlR0YxLyUsY29sdW1ud2lkdGhHUSVhdXRvRicvJSZ3aWR0aEdGX3UvJStyb3dzcGFjaW5nR1EmMS4wZXhGJy8lLmNvbHVtbnNwYWNpbmdHUSYwLjhlbUYnLyUpcm93bGluZXNHUSVub25lRicvJSxjb2x1bW5saW5lc0dGanUvJSZmcmFtZUdGanUvJS1mcmFtZXNwYWNpbmdHUSwwLjRlbX4wLjVleEYnLyUqZXF1YWxyb3dzR0Y9LyUtZXF1YWxjb2x1bW5zR0Y9LyUtZGlzcGxheXN0eWxlR0Y9LyUlc2lkZUdRJnJpZ2h0RicvJTBtaW5sYWJlbHNwYWNpbmdHRmd1Rl10RmB0RjlGOS9JK21zZW1hbnRpY3NHRiRRJ01hdHJpeEYnLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnRl13LyUrYWN0aW9udHlwZUdRLnJ0YWJsZWFkZHJlc3NGJy8lKXJ0YWJsZWlkR1EpMjQ2Mzc5MDRGJ0ZddEZgdEY5">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEiSkYnLyUnaXRhbGljR1EldHJ1ZUYnLyUsbWF0aHZhcmlhbnRHUSdpdGFsaWNGJy1JI21vR0YkNi1RIzo9RicvRjNRJ25vcm1hbEYnLyUmZmVuY2VHUSZmYWxzZUYnLyUqc2VwYXJhdG9yR0Y9LyUpc3RyZXRjaHlHRj0vJSpzeW1tZXRyaWNHRj0vJShsYXJnZW9wR0Y9LyUubW92YWJsZWxpbWl0c0dGPS8lJ2FjY2VudEdGPS8lJ2xzcGFjZUdRLDAuMjc3Nzc3OGVtRicvJSdyc3BhY2VHRkwtSShtYWN0aW9uR0YkNiUtSShtZmVuY2VkR0YkNigtRiM2Ji1JJ210YWJsZUdGJDY3LUkkbXRyR0YkNigtSSRtdGRHRiQ2KC1GIzYnLUY2Ni1RKiZ1bWludXMwO0YnRjlGO0Y+RkBGQkZERkZGSC9GS1EsMC4yMjIyMjIyZW1GJy9GTkZgby1JI21uR0YkNiRRIjFGJ0Y5LUY2Ni1RKCZtaW51cztGJ0Y5RjtGPkZARkJGREZGRkhGX29GYW8tRiM2JC1JJW1zdXBHRiQ2JS1GLDYlUSJhRidGL0YyLUZjbzYkUSIyRidGOS8lMXN1cGVyc2NyaXB0c2hpZnRHUSIwRidGOUY5LyUpcm93YWxpZ25HUSFGJy8lLGNvbHVtbmFsaWduR0ZpcC8lK2dyb3VwYWxpZ25HRmlwLyUocm93c3BhbkdGZW8vJStjb2x1bW5zcGFuR0Zlby1GaG42KC1GLDYlUSNlMUYnRi9GMkZncEZqcEZccUZecUZgcS1GaG42KC1GY282JEZmcEY5RmdwRmpwRlxxRl5xRmBxRmdwRmpwRlxxLUZlbjYoRmdxLUZobjYoLUYjNidGXG9GZHEtRjY2LVEiK0YnRjlGO0Y+RkBGQkZERkZGSEZfb0Zhby1GIzYoRmFwLUY2Ni1RMSZJbnZpc2libGVUaW1lcztGJ0Y5RjtGPkZARkJGREZGRkgvRktRJjAuMGVtRicvRk5GanItRiw2JVEiY0YnRi9GMkZmci1GLDYlUSN4MkYnRi9GMkY5RjlGZ3BGanBGXHFGXnFGYHEtRmhuNigtRiw2JVEiYkYnRi9GMkZncEZqcEZccUZecUZgcUZncEZqcEZccS1GZW42KEZncS1GaG42KC1GIzYnRlxvRmRyLyUrZm9yZWdyb3VuZEdRKFswLDAsMF1GJy8lKXJlYWRvbmx5R0Y9RjlGZ3BGanBGXHFGXnFGYHFGZ3FGZ3BGanBGXHEvJSZhbGlnbkdRJWF4aXNGJy9GaHBRKWJhc2VsaW5lRicvRltxUSdjZW50ZXJGJy9GXXFRJ3xmcmxlZnR8aHJGJy8lL2FsaWdubWVudHNjb3BlR0YxLyUsY29sdW1ud2lkdGhHUSVhdXRvRicvJSZ3aWR0aEdGX3UvJStyb3dzcGFjaW5nR1EmMS4wZXhGJy8lLmNvbHVtbnNwYWNpbmdHUSYwLjhlbUYnLyUpcm93bGluZXNHUSVub25lRicvJSxjb2x1bW5saW5lc0dGanUvJSZmcmFtZUdGanUvJS1mcmFtZXNwYWNpbmdHUSwwLjRlbX4wLjVleEYnLyUqZXF1YWxyb3dzR0Y9LyUtZXF1YWxjb2x1bW5zR0Y9LyUtZGlzcGxheXN0eWxlR0Y9LyUlc2lkZUdRJnJpZ2h0RicvJTBtaW5sYWJlbHNwYWNpbmdHRmd1Rl10RmB0RjlGOS9JK21zZW1hbnRpY3NHRiRRJ01hdHJpeEYnLyUlb3BlbkdRIltGJy8lJmNsb3NlR1EiXUYnRl13LyUrYWN0aW9udHlwZUdRLnJ0YWJsZWFkZHJlc3NGJy8lKXJ0YWJsZWlkR1EpMjQ2Mzc5MDRGJ0ZddEZgdEY5</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEkSl8wRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEjOj1GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EsMC4yNzc3Nzc4ZW1GJy8lJ3JzcGFjZUdGTC1JKG1hY3Rpb25HRiQ2JS1JKG1mZW5jZWRHRiQ2KC1GIzYmLUknbXRhYmxlR0YkNjctSSRtdHJHRiQ2KC1JJG10ZEdGJDYoLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmBvLUkjbW5HRiQ2JFEiMUYnRjktRjY2LVEoJm1pbnVzO0YnRjlGO0Y+RkBGQkZERkZGSEZfb0Zhby1GIzYkLUklbXN1cEdGJDYlLUYsNiVRImFGJ0YvRjItRmNvNiRRIjJGJ0Y5LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0Y5RjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmlwLyUrZ3JvdXBhbGlnbkdGaXAvJShyb3dzcGFuR0Zlby8lK2NvbHVtbnNwYW5HRmVvLUZobjYoLUZjbzYkRmZwRjlGZ3BGanBGXHFGXnFGYHFGYnFGZ3BGanBGXHEtRmVuNihGYnFGYnEtRmhuNigtRiw2JVEiYkYnRi9GMkZncEZqcEZccUZecUZgcUZncEZqcEZccS1GZW42KEZicUZicUZicUZncEZqcEZccS8lJmFsaWduR1ElYXhpc0YnL0ZocFEpYmFzZWxpbmVGJy9GW3FRJ2NlbnRlckYnL0ZdcVEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0Zccy8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0Zncy8lJmZyYW1lR0Zncy8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGZHMvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5L0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGX3UvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUSkyNDY3MjUzNkYnRmp0Rl11Rjk=">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEkSl8wRicvJSdpdGFsaWNHUSV0cnVlRicvJSxtYXRodmFyaWFudEdRJ2l0YWxpY0YnLUkjbW9HRiQ2LVEjOj1GJy9GM1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRj0vJSlzdHJldGNoeUdGPS8lKnN5bW1ldHJpY0dGPS8lKGxhcmdlb3BHRj0vJS5tb3ZhYmxlbGltaXRzR0Y9LyUnYWNjZW50R0Y9LyUnbHNwYWNlR1EsMC4yNzc3Nzc4ZW1GJy8lJ3JzcGFjZUdGTC1JKG1hY3Rpb25HRiQ2JS1JKG1mZW5jZWRHRiQ2KC1GIzYmLUknbXRhYmxlR0YkNjctSSRtdHJHRiQ2KC1JJG10ZEdGJDYoLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmBvLUkjbW5HRiQ2JFEiMUYnRjktRjY2LVEoJm1pbnVzO0YnRjlGO0Y+RkBGQkZERkZGSEZfb0Zhby1GIzYkLUklbXN1cEdGJDYlLUYsNiVRImFGJ0YvRjItRmNvNiRRIjJGJ0Y5LyUxc3VwZXJzY3JpcHRzaGlmdEdRIjBGJ0Y5RjkvJSlyb3dhbGlnbkdRIUYnLyUsY29sdW1uYWxpZ25HRmlwLyUrZ3JvdXBhbGlnbkdGaXAvJShyb3dzcGFuR0Zlby8lK2NvbHVtbnNwYW5HRmVvLUZobjYoLUZjbzYkRmZwRjlGZ3BGanBGXHFGXnFGYHFGYnFGZ3BGanBGXHEtRmVuNihGYnFGYnEtRmhuNigtRiw2JVEiYkYnRi9GMkZncEZqcEZccUZecUZgcUZncEZqcEZccS1GZW42KEZicUZicUZicUZncEZqcEZccS8lJmFsaWduR1ElYXhpc0YnL0ZocFEpYmFzZWxpbmVGJy9GW3FRJ2NlbnRlckYnL0ZdcVEnfGZybGVmdHxockYnLyUvYWxpZ25tZW50c2NvcGVHRjEvJSxjb2x1bW53aWR0aEdRJWF1dG9GJy8lJndpZHRoR0Zccy8lK3Jvd3NwYWNpbmdHUSYxLjBleEYnLyUuY29sdW1uc3BhY2luZ0dRJjAuOGVtRicvJSlyb3dsaW5lc0dRJW5vbmVGJy8lLGNvbHVtbmxpbmVzR0Zncy8lJmZyYW1lR0Zncy8lLWZyYW1lc3BhY2luZ0dRLDAuNGVtfjAuNWV4RicvJSplcXVhbHJvd3NHRj0vJS1lcXVhbGNvbHVtbnNHRj0vJS1kaXNwbGF5c3R5bGVHRj0vJSVzaWRlR1EmcmlnaHRGJy8lMG1pbmxhYmVsc3BhY2luZ0dGZHMvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOUY5L0krbXNlbWFudGljc0dGJFEnTWF0cml4RicvJSVvcGVuR1EiW0YnLyUmY2xvc2VHUSJdRidGX3UvJSthY3Rpb250eXBlR1EucnRhYmxlYWRkcmVzc0YnLyUpcnRhYmxlaWRHUSkyNDY3MjUzNkYnRmp0Rl11Rjk=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEvSl9laWdlbl92YWx1ZXNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkobWFjdGlvbkdGJDYlLUkobWZlbmNlZEdGJDYoLUYjNiYtSSdtdGFibGVHRiQ2Ny1JJG10ckdGJDYmLUkkbXRkR0YkNigtSSNtbkdGJDYkUSIwRidGOS8lKXJvd2FsaWduR1EhRicvJSxjb2x1bW5hbGlnbkdGYG8vJStncm91cGFsaWduR0Zgby8lKHJvd3NwYW5HUSIxRicvJStjb2x1bW5zcGFuR0Znb0Zeb0Zhb0Zjb0ZaLUZlbjYmLUZobjYoLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmRwLUZbbzYkRmdvRjktRjY2LVEoJm1pbnVzO0YnRjlGO0Y+RkBGQkZERkZGSEZjcEZlcC1GIzYkLUklbXN1cEdGJDYlLUYsNiVRImFGJ0YvRjItRltvNiRRIjJGJ0Y5LyUxc3VwZXJzY3JpcHRzaGlmdEdGXW9GOUY5Rl5vRmFvRmNvRmVvRmhvRl5vRmFvRmNvLyUmYWxpZ25HUSVheGlzRicvRl9vUSliYXNlbGluZUYnL0Zib1EnY2VudGVyRicvRmRvUSd8ZnJsZWZ0fGhyRicvJS9hbGlnbm1lbnRzY29wZUdGMS8lLGNvbHVtbndpZHRoR1ElYXV0b0YnLyUmd2lkdGhHRmVyLyUrcm93c3BhY2luZ0dRJjEuMGV4RicvJS5jb2x1bW5zcGFjaW5nR1EmMC44ZW1GJy8lKXJvd2xpbmVzR1Elbm9uZUYnLyUsY29sdW1ubGluZXNHRmBzLyUmZnJhbWVHRmBzLyUtZnJhbWVzcGFjaW5nR1EsMC40ZW1+MC41ZXhGJy8lKmVxdWFscm93c0dGPS8lLWVxdWFsY29sdW1uc0dGPS8lLWRpc3BsYXlzdHlsZUdGPS8lJXNpZGVHUSZyaWdodEYnLyUwbWlubGFiZWxzcGFjaW5nR0Zdcy8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjkvSSttc2VtYW50aWNzR0YkUSpDb2xWZWN0b3JGJy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJ0ZodC8lK2FjdGlvbnR5cGVHUS5ydGFibGVhZGRyZXNzRicvJSlydGFibGVpZEdRKTI0NjcyNDAwRidGY3RGZnRGOQ==">LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEvSl9laWdlbl92YWx1ZXNGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkobWFjdGlvbkdGJDYlLUkobWZlbmNlZEdGJDYoLUYjNiYtSSdtdGFibGVHRiQ2Ny1JJG10ckdGJDYmLUkkbXRkR0YkNigtSSNtbkdGJDYkUSIwRidGOS8lKXJvd2FsaWduR1EhRicvJSxjb2x1bW5hbGlnbkdGYG8vJStncm91cGFsaWduR0Zgby8lKHJvd3NwYW5HUSIxRicvJStjb2x1bW5zcGFuR0Znb0Zeb0Zhb0Zjb0ZaLUZlbjYmLUZobjYoLUYjNictRjY2LVEqJnVtaW51czA7RidGOUY7Rj5GQEZCRkRGRkZIL0ZLUSwwLjIyMjIyMjJlbUYnL0ZORmRwLUZbbzYkRmdvRjktRjY2LVEoJm1pbnVzO0YnRjlGO0Y+RkBGQkZERkZGSEZjcEZlcC1GIzYkLUklbXN1cEdGJDYlLUYsNiVRImFGJ0YvRjItRltvNiRRIjJGJ0Y5LyUxc3VwZXJzY3JpcHRzaGlmdEdGXW9GOUY5Rl5vRmFvRmNvRmVvRmhvRl5vRmFvRmNvLyUmYWxpZ25HUSVheGlzRicvRl9vUSliYXNlbGluZUYnL0Zib1EnY2VudGVyRicvRmRvUSd8ZnJsZWZ0fGhyRicvJS9hbGlnbm1lbnRzY29wZUdGMS8lLGNvbHVtbndpZHRoR1ElYXV0b0YnLyUmd2lkdGhHRmVyLyUrcm93c3BhY2luZ0dRJjEuMGV4RicvJS5jb2x1bW5zcGFjaW5nR1EmMC44ZW1GJy8lKXJvd2xpbmVzR1Elbm9uZUYnLyUsY29sdW1ubGluZXNHRmBzLyUmZnJhbWVHRmBzLyUtZnJhbWVzcGFjaW5nR1EsMC40ZW1+MC41ZXhGJy8lKmVxdWFscm93c0dGPS8lLWVxdWFsY29sdW1uc0dGPS8lLWRpc3BsYXlzdHlsZUdGPS8lJXNpZGVHUSZyaWdodEYnLyUwbWlubGFiZWxzcGFjaW5nR0Zdcy8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGPUY5RjkvSSttc2VtYW50aWNzR0YkUSpDb2xWZWN0b3JGJy8lJW9wZW5HUSJbRicvJSZjbG9zZUdRIl1GJ0ZodC8lK2FjdGlvbnR5cGVHUS5ydGFibGVhZGRyZXNzRicvJSlydGFibGVpZEdRKTI0NjcyNDAwRidGY3RGZnRGOQ==</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1216" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">Check that the right-hand side of the system becomes zero at the bifurcation point:</Text-field>
</Input>
</Group>
<Group labelreference="L1208" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">eq1_0 := subs([x1 = 0, x2 = 0, x3 = 0, e1 = 0, e2 = 0], eq1);
eq2_0 := subs([x1 = 0, x2 = 0, x3 = 0, e1 = 0, e2 = 0], eq2);
eq3_0 := subs([x1 = 0, x2 = 0, x3 = 0, e1 = 0, e2 = 0], eq3);</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmZXExXzBGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkjbW5HRiQ2JFEiMEYnRjkvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOQ==">IiIh</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmZXEyXzBGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkjbW5HRiQ2JFEiMEYnRjkvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOQ==">IiIh</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUkjbWlHRiQ2JVEmZXEzXzBGJy8lJ2l0YWxpY0dRJXRydWVGJy8lLG1hdGh2YXJpYW50R1EnaXRhbGljRictSSNtb0dGJDYtUSM6PUYnL0YzUSdub3JtYWxGJy8lJmZlbmNlR1EmZmFsc2VGJy8lKnNlcGFyYXRvckdGPS8lKXN0cmV0Y2h5R0Y9LyUqc3ltbWV0cmljR0Y9LyUobGFyZ2VvcEdGPS8lLm1vdmFibGVsaW1pdHNHRj0vJSdhY2NlbnRHRj0vJSdsc3BhY2VHUSwwLjI3Nzc3NzhlbUYnLyUncnNwYWNlR0ZMLUkjbW5HRiQ2JFEiMEYnRjkvJStmb3JlZ3JvdW5kR1EoWzAsMCwwXUYnLyUpcmVhZG9ubHlHRj1GOQ==">IiIh</Equation></Text-field>
</Output>
</Group>
<Group labelreference="L1210" drawlabel="true">
<Input>
<Text-field style="Text" layout="Normal">To check whether there is a Bogdanov-Takens bifurcation at the bifurcation point <Font italic="true">(x1, x2, x3; e1, e2) = </Font>(0, 0, 0; 0, 0)<Font italic="true"> </Font> and to find its normal form, we use the procedure <Font italic="true">calcBTBif</Font> with the input arguments:
- the ODE system: [ode1, ode2, ode3]
- the variables: [x1(t), x2(t), x3(t)]
- the bifurcation parameters: [e1, e2]
- the bifurcation point: [0, 0, 0]
- the bifurcation parameter values: [0, 0]
- the type of the center manifold reduction: {true - using the direct method; false - using the projection method} (see [9])</Text-field>
</Input>
</Group>
<Group labelreference="L1202" drawlabel="true">
<Input>
<Text-field prompt="&gt; " style="Maple Input" layout="Normal">BifTools:-calcBTBif([ode1, ode2, ode3], [x1(t), x2(t), x3(t)], [e1, e2], [0, 0, 0], [0, 0], false):</Text-field>
</Input>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">NiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output">STYtLX5UaGV+T0RFc35zeXN0ZW1+LS1HNiI=</Equation></Text-field>
</Output>
<Output>
<Text-field style="2D Output" layout="Maple Output"><Equation executable="false" style="2D Output" display="LUklbXJvd0c2Iy9JK21vZHVsZW5hbWVHNiJJLFR5cGVzZXR0aW5nR0koX3N5c2xpYkdGJzYoLUYjNigtSSZtZnJhY0dGJDYoLUYjNiYtSSNtb0dGJDYtUTAmRGlmZmVyZW50aWFsRDtGJy8lLG1hdGh2YXJpYW50R1Enbm9ybWFsRicvJSZmZW5jZUdRJmZhbHNlRicvJSpzZXBhcmF0b3JHRjsvJSlzdHJldGNoeUdGOy8lKnN5bW1ldHJpY0dGOy8lKGxhcmdlb3BHRjsvJS5tb3ZhYmxlbGltaXRzR0Y7LyUnYWNjZW50R0Y7LyUnbHNwYWNlR1EmMC4wZW1GJy8lJ3JzcGFjZUdGSi8lK2ZvcmVncm91bmRHUShbMCwwLDBdRicvJSlyZWFkb25seUdGO0Y2LUYjNiYtRiM2J0YyLUkjbWlHRiQ2JVEidEYnLyUnaXRhbGljR1EldHJ1ZUYnL0Y3USdpdGFsaWNGJ0ZNRlBGNkZNRlBGNi8lLmxpbmV0aGlja25lc3NHUSIxRicvJStkZW5vbWFsaWduR1EnY2VudGVyRicvJSludW1hbGlnbkdGXm8vJSliZXZlbGxlZEdGOy1GMzYtUTEmSW52aXNpYmxlVGltZXM7RidGNkY5RjxGPkZARkJGREZGRkhGSy1GIzYoLUZXNiVRI3gxRidGWkZnbi1GMzYtUTAmQXBwbHlGdW5jdGlvbjtGJ0Y2RjlGPEY+RkBGQkZERkZGSEZLLUkobWZlbmNlZEdGJDYkLUYjNiZGVkZNRlBGNkY2Rk1GUEY2Rk1GUEY2LUYzNi1RIj1GJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjc3Nzc3OGVtRicvRkxGZ3AtRiM2Jy1GMzYtUSomdW1pbnVzMDtGJ0Y2RjlGPEY+RkBGQkZERkYvRklRLDAuMjIyMjIyMmVtRicvRkxGX3EtRiM2Ji1GX3A2JC1GIzYmLUkjbW5HRiQ2JEZbb0Y2LUYzNi1RIitGJ0Y2RjlGPEY+RkBGQkZERkZGXnFGYHEtRiM2JC1JJW1zdXBHRiQ2JS1GVzYlUSJhRidGWkZnbi1GaHE2JFEiMkYnRjYvJTFzdXBlcnNjcmlwdHNoaWZ0R1EiMEYnRjZGNkY2RmNvRmZvRjZGanEtRiM2Ji1GVzYlUSNlMUYnRlpGZ25GY28tRiM2KC1GVzYlUSN4MkYnRlpGZ25GW3BGXnBGTUZQRjZGNkY2Rk1GUEY2">Ly1JJWRpZmZHJSpwcm90ZWN0ZWRHNiQtSSN4MUc2IjYjSSJ0R0YpRissJiomLCYiIiJGLyokKUkiYUdGKSIiI0YvRi9GL0YnRi8hIiIqJkkjZTFHRilGLy1JI3gyR0YpRipGL0Yv</Equation></Text-field>
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<Text-field style="Text" layout="Normal">We see from the output that the two genericity conditions will be satisfied, when <Font italic="true">c</Font><Font encoding="UTF-8">\342\211\240</Font>0 and <Font italic="true">b </Font><Font encoding="UTF-8">\342\211\240 0</Font>  (i. e. <Font italic="true">a</Font>(0)<Font italic="true">*b</Font>(0) <Font encoding="UTF-8">\342\211\240</Font>0 and the determinant of the map 2(<Font italic="true">a<Font superscript="true">2</Font></Font>+1)<Font superscript="true">2</Font><Font italic="true">cb</Font><Font superscript="true">2</Font> <Font encoding="UTF-8" italic="true">\342\211\240</Font> 0); if this is the case, the bifurcation point <Font italic="true">(x1, x2, x3; e1, e2) = (0, 0, 0; 0, 0) </Font>will be a Bogdanov-Takens bifurcation point.</Text-field>
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</Section>
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<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1">Conclusions</Text-field></Title>
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<Text-field style="Text" layout="Normal">In this worksheet we have demonstrated the facilities of the Maple package <Font italic="true">BifTools</Font> for bifurcation analysis of dynamical systems, examining some examples. We would highly appreciate your comments about your own experiences using <Font italic="true">BifTools</Font>. Please send your feedback to milen_kb@abv.bg or nelid@bio.bas.bg.</Text-field>
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<Section collapsed="false" MultipleChoiceAnswerIndex="-1" MultipleChoiceRandomizeChoices="false" TrueFalseAnswerIndex="-1" EssayAnswerRows="5" EssayAnswerColumns="60"><Title>
<Text-field style="Heading 1" layout="Heading 1">References</Text-field></Title>
<Text-field style="Text" layout="Normal"><Font encoding="UTF-8">[1] F. Mazenc, T. Ari, Global Dynamics of the Chemostat with Different Removal Rates and Variable Yields, Mathematical Biosciences and Engineering, Vol. 8, No. 3, July 2011, 827\342\200\223840.</Font></Text-field>
<Text-field style="Text" layout="Normal">[2] H. L. Smith, P. Waltman : The Theory of the Chemostat. Dynamics of Microbial Competition. Cambridge University Press, 1995</Text-field>
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<Text-field style="Text" layout="Normal">[3] M. Borisov, N. Dimitrova, One-Parameter Bifurcation Analysis of Dynamical Systems Using Maple. Serdica Journal of Computing, Vol. 4, Nr. 1, 2010, 43-56.</Text-field>
<Text-field style="Text" layout="Normal">[4] M. Borisov, BifTools: Maple Package for Bifurcation Analysis of Dynamical Systems, submitted for publication (2012).
[5] S. Pilyugin, P. Waltman, Multiple limit cycles in the chemostat with variable yields. Mathematical Biosciences 182, (2003), 151-166.</Text-field>
<Text-field style="Text" layout="Normal">[6] S. Wiggins, Introduction to applied nonlinear dynamical systems and chaos. Texts in Applied Mathematics, Vol. 2, Springer, New York, eidelberg, Berlin, 1990.</Text-field>
<Text-field style="Text" layout="Normal">[7] T. Gross, Population Dynamics: General Results from Local Analysis. PhD Thesis, Faculty of Mathematics and Natural Sciences, Carl von ssietzky Univ. , Oldenburg, Germany, 2004.</Text-field>
<Text-field style="Text" layout="Normal">[8] T. Gross, U. Feudel, Analytical Search for Bifurcation Surfaces in Parameter Space. Physica D 195.</Text-field>
<Text-field style="Text" layout="Normal">[9] Y. A. Kuznetsov, Elements of applied bifurcation theory. Applied Mathematical Science 112, Springer, New York, Heidelberg, Berlin, 1995. (2004) 292-302.</Text-field>
<Text-field style="Text" layout="Normal">[10] Y. A. Kuznetsov, J. Guckenheimer (2007), Scholarpedia, 2(1):1854, <Font italic="true">http://www.scholarpedia.org/article/Bogdanov-Takens_bifurcation </Font>(December 5, 2011)</Text-field>
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<Text-field style="Heading 1" layout="Heading 1">See Also</Text-field></Title>
<Text-field style="Text" italic="true" layout="Normal"><Font italic="true">For more information about:</Font></Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font italic="true">- the package BifTools, see </Font><Font italic="false">[3], [4]</Font><Font italic="true"> and the Readme.txt file in the package distribution BifTools_ver.x.x.x_.zip;</Font></Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font italic="true">- the bifurcation analysis, see </Font><Font italic="false">[6], [9]</Font><Font italic="true">;</Font></Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font italic="true">- the method of resultants for finding bifurcation equilibrium points, see </Font><Font italic="false">[7], [8]</Font><Font italic="true">;</Font></Text-field>
<Text-field style="Text" italic="true" layout="Normal"><Font italic="true">- the chemostat and biological models, see</Font><Font italic="false"> [1], [2], [5]</Font></Text-field>
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<Text-field style="Text" italic="true" layout="Normal"><Font encoding="UTF-8" italic="true">Legal Notice: \302\251 Maplesoft, a division of Waterloo Maple Inc. 2009. Maplesoft and Maple are trademarks of Waterloo Maple Inc. Neither Maplesoft</Font><Font background="[255,255,255]" italic="true"> nor the authors are responsible </Font><Font italic="true">for any errors contained within and are not liable for any damages resulting from the use of this material.  This application is intended for non-commercial, non-profit use only. Contact the authors for permission if you wish to use this application in for-profit activities. </Font></Text-field>
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