Showing papers in "Regular & Chaotic Dynamics in 2013"

The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere

Abstract: In this paper, we investigate the dynamics of systems describing the rolling without slipping and spinning (rubber rolling) of various rigid bodies on a plane and a sphere. It is shown that a hierarchy of possible types of dynamical behavior arises depending on the body’s surface geometry and mass distribution. New integrable cases and cases of existence of an invariant measure are found. In addition, these systems are used to illustrate that the existence of several nontrivial involutions in reversible dissipative systems leads to quasi-Hamiltonian behavior.

Richness of chaotic dynamics in nonholonomic models of a celtic stone

Abstract: We study the regular and chaotic dynamics of two nonholonomic models of a Celtic stone. We show that in the first model (the so-called BM-model of a Celtic stone) the chaotic dynamics arises sharply, during a subcritical period doubling bifurcation of a stable limit cycle, and undergoes certain stages of development under the change of a parameter including the appearance of spiral (Shilnikov-like) strange attractors and mixed dynamics. For the second model, we prove (numerically) the existence of Lorenz-like attractors (we call them discrete Lorenz attractors) and trace both scenarios of development and break-down of these attractors.

How to control the Chaplygin ball using rotors. II

Abstract: In our earlier paper [3] we examined the problem of control of a balanced dynamically nonsymmetric sphere with rotors with no-slip condition at the point of contact. In this paper we investigate the controllability of a ball in the presence of friction. We also study the problem of the existence and stability of singular dissipation-free periodic solutions for a free ball in the presence of friction forces. The issues of constructive realization of the proposed algorithms are discussed.

The problem of drift and recurrence for the rolling Chaplygin ball

Abstract: We investigate the motion of the point of contact (absolute dynamics) in the integrable problem of the Chaplygin ball rolling on a plane. Although the velocity of the point of contact is a given vector function of variables of the reduced system, it is impossible to apply standard methods of the theory of integrable Hamiltonian systems due to the absence of an appropriate conformally Hamiltonian representation for an unreduced system. For a complete analysis we apply the standard analytical approach, due to Bohl and Weyl, and develop topological methods of investigation. In this way we obtain conditions for boundedness and unboundedness of the trajectories of the contact point.

Strange attractors and mixed dynamics in the problem of an unbalanced rubber ball rolling on a plane

Abstract: We consider the dynamics of an unbalanced rubber ball rolling on a rough plane. The term rubber means that the vertical spinning of the ball is impossible. The roughness of the plane means that the ball moves without slipping. The motions of the ball are described by a nonholonomic system reversible with respect to several involutions whose number depends on the type of displacement of the center of mass. This system admits a set of first integrals, which helps to reduce its dimension. Thus, the use of an appropriate two-dimensional Poincarem ap is enough to describe the dynamics of our system. We demonstrate for this system the existence of complex chaotic dynamics such as strange attractors and mixed dynamics. The type of chaotic behavior depends on the type of reversibility. In this paper we describe the development of a strange attractor and then its basic properties. After that we show the existence of another interesting type of chaos — the so-called mixed dynamics. In numerical experiments, a set of criteria by which the mixed dynamics may be distinguished from other types of dynamical chaos in two-dimensional maps is given.

On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors

Abstract: The paper deals with the dynamics of a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits nonholonomic constraints to propel the rolling carrier. A full mathematical model as well as its reduced version are derived, and the inverse dynamics are addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two rotors the conditions of controllability and dynamic realizability are established. It is shown that in moving the robot by tracing straight lines and circles in the contact plane the dynamically realizable trajectories are not represented by the circles on the sphere, which is a feature of the kinematic model of pure rolling. The implication of this fact to motion planning is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere the dynamically realizable trajectories are essentially different from those resulted from kinematic models. The dynamic motion planning problem is then formulated in the optimal control settings, and properties of the optimal trajectories are illustrated under simulation.

The dynamics of vortex rings: Leapfrogging, choreographies and the stability problem

Abstract: We consider the problem of motion of axisymmetric vortex rings in an ideal incompressible fluid. Using the topological approach, we present a method for complete qualitative analysis of the dynamics of a system of two vortex rings. In particular, we completely solve the problem of describing the conditions for the onset of leapfrogging motion of vortex rings. In addition, for the system of two vortex rings we find new families of motions where the relative distances remain finite (we call them pseudo-leapfrogging). We also find solutions for the problem of three vortex rings, which describe both the regular and chaotic leapfrogging motion of vortex rings.

On the optimal shape of magnetic swimmers

Abstract: Magnetic actuation of elasto-magnetic devices has long been proposed as a simple way to propel fluid and achieve locomotion in environments dominated by viscous forces. Under the action of an oscillating magnetic field, a permanent magnet, when attached to an elastic tail, is able to generate bending waves and sufficient thrust for propulsion. We study the hydrodynamical effects of the magnetic head geometry using a geometrically exact formulation for the elastic tail elastohydrodynamics.We show that the spherical head geometry fails to take full advantage of the propulsive potential from the flexible tail. Nevertheless, while elongated prolate spheroids demonstrate a superior swimming performance, this is still regulated by the nature of the imposed magnetic field. Interestingly, the highest swimming speed is observed when the magnitude of the magnetic field is weak due to delays between the orientation of the magnetic moment and the oscillating magnetic field. This allows the stored elastic energy from the deformed tail to relax during the phase lag between the imposed magnetic field and the swimmer’s magnetic moment, favouring in this way the net propulsion. In particular, this result suggests the existence of optimal magnetic actuations that are non-smooth, and even discontinuous in time, in order to fully explore the propulsive potential associated with the relaxation dynamics of periodically deformed elastic filaments.

Topological analysis of an integrable system related to the rolling of a ball on a sphere

Abstract: A new integrable system describing the rolling of a rigid body with a spherical cavity on a spherical base is considered. Previously the authors found the separation of variables for this system on the zero level set of a linear (in angular velocity) first integral, whereas in the general case it is not possible to separate the variables. In this paper we show that the foliation into invariant tori in this problem is equivalent to the corresponding foliation in the Clebsch integrable system in rigid body dynamics (for which no real separation of variables has been found either). In particular, a fixed point of focus type is possible for this system, which can serve as a topological obstacle to the real separation of variables.

Polynomial entropies and integrable Hamiltonian systems

Abstract: We introduce two numerical conjugacy invariants of dynamical systems — the polynomial entropy and the weak polynomial entropy — which are well-suited for the study of “completely integrable” Hamiltonian systems. These invariants describe the polynomial growth rate of the number of balls (for the usual “dynamical” distances) of covers of the ambient space. We give explicit examples of computation of these polynomial entropies for generic Hamiltonian systems on surfaces.

The self-propulsion of a body with moving internal masses in a viscous fluid

Abstract: An investigation of the characteristics of motion of a rigid body with variable internal mass distribution in a viscous fluid is carried out on the basis of a joint numerical solution of the Navier — Stokes equations and equations of motion for a rigid body. A nonstationary three-dimensional solution to the problem is found. The motion of a sphere and a drop-shaped body in a viscous fluid in a gravitational field, which is caused by the motion of internal material points, is explored. The possibility of self-propulsion of a body in an arbitrary given direction is shown.

The Euler-Jacobi-Lie integrability theorem

Abstract: This paper addresses a class of problems associated with the conditions for exact integrability of systems of ordinary differential equations expressed in terms of the properties of tensor invariants. The general theorem of integrability of the system of n differential equations is proved, which admits n − 2 independent symmetry fields and an invariant volume n-form (integral invariant). General results are applied to the study of steady motions of a continuum with infinite conductivity.

Capture into resonance and escape from it in a forced nonlinear pendulum

Abstract: We study the dynamics of a nonlinear pendulum under a periodic force with small amplitude and slowly decreasing frequency. It is well known that when the frequency of the external force passes through the value of the frequency of the unperturbed pendulum’s oscillations, the pendulum can be captured into resonance. The captured pendulum oscillates in such a way that the resonance is preserved, and the amplitude of the oscillations accordingly grows. We consider this problem in the frames of a standard Hamiltonian approach to resonant phenomena in slow-fast Hamiltonian systems developed earlier, and evaluate the probability of capture into resonance. If the system passes through resonance at small enough initial amplitudes of the pendulum, the capture occurs with necessity (so-called autoresonance). In general, the probability of capture varies between one and zero, depending on the initial amplitude. We demonstrate that a pendulum captured at small values of its amplitude escapes from resonance in the domain of oscillations close to the separatrix of the pendulum, and evaluate the amplitude of the oscillations at the escape.

KAM-tori near an analytic elliptic fixed point

Abstract: We study the accumulation of an elliptic fixed point of a real analytic Hamiltonian by quasi-periodic invariant tori.

On action-angle coordinates and the Poincaré coordinates

Abstract: This article is a review of two related classical topics of Hamiltonian systems and celestial mechanics. The first section deals with the existence and construction of action-angle coordinates, which we describe emphasizing the role of the natural adiabatic invariants ''$\oint_\gamma p\, dq$''. The second section is the construction and properties of the Poincare coordinates in the Kepler problem, adapting the principles of the former section, in an attempt to use known first integrals more directly than Poincare did.

Aspects of the planetary Birkhoff normal form

Abstract: The discovery of the Birkhoff normal form around circular, co-planar motions for the planetary system opened new insights and hopes for the comprehension of the dynamics of this problem. Remarkably, it allowed to give a direct proof (after the proof in [18]) of the celebrated Arnold’s Theorem [5] on the stability of planetary motions. In this paper, after reviewing the story of the proof of this theorem, we focus on technical aspects of this normal form. We develop an asymptotic formula for it that may turn to be useful in applications. Then we provide two simple applications to the three-body problem: we prove that the “density” of the Kolmogorov set of the spatial three-body problem does not depend on eccentricities and the mutual inclination but depends only on the planets’ masses and the separation among semi-axes (going in the direction of an assertion by V. I.Arnold [5]) and, using Nehorosev Theory [33], we prove, in the planar case, stability of all planetary actions over exponentiallylong times, provided mean-motion resonances are excluded. We also briefly discuss difficulties for full generalization of the results in the paper.

From the Hénon conservative map to the Chirikov standard map for large parameter values

Abstract: In this paper we consider conservative quadratic Henon maps and Chirikov’s standard map, and relate them in some sense.

Optimal control of vibrationally excited locomotion systems

Abstract: Optimal controls are constructed for two types of mobile systems propelling themselves due to relative oscillatory motions of their parts. The system of the first type is modelled by a rigid body (main body) to which two links are attached by revolute joints. All three bodies interact with the environment with the forces depending on the velocity of motion of these bodies relative to the environment. The system is controlled by high-frequency periodic angular oscillations of the links relative to the main body. The system of the other type consists of two bodies, one of which (the main body) interacts with the environment and with the other body (internal body), which interacts with the main body but does not interact with the environment. The system is controlled by periodic oscillations of the internal body relative to the main body. For both systems, the motions with the main body moving along a horizontal straight line are considered. Optimal control laws that maximize the average velocity of the main body are found.

An amphibious vibration-driven microrobot with a piezoelectric actuator

Abstract: This article concerns microrobots for solid and liquid environments. A short overview of microrobotics, suitable actuators and energy systems is given. The principles of terrestrial and aquatic locomotion are discussed and illustrated with examples from the literature on robotics. The state of the art with a focus on piezo microrobots for solid and liquid environments is presented.

On the motion of a mechanical system inside a rolling ball

Abstract: We consider a mechanical system inside a rolling ball and show that if the constraints have spherical symmetry, the equations of motion have Lagrangian form. Without symmetry, this is not true.

Normal forms, stability and splitting of invariant manifolds I. Gevrey Hamiltonians

Abstract: In this paper, we give a new construction of resonant normal forms with a small remainder for near-integrable Hamiltonians at a quasi-periodic frequency. The construction is based on the special case of a periodic frequency, a Diophantine result concerning the approximation of a vector by independent periodic vectors and a technique of composition of periodic averaging. It enables us to deal with non-analytic Hamiltonians, and in this first part we will focus on Gevrey Hamiltonians and derive normal forms with an exponentially small remainder. This extends a result which was known for analytic Hamiltonians, and only in the periodic case for Gevrey Hamiltonians. As applications, we obtain an exponentially large upper bound on the stability time for the evolution of the action variables and an exponentially small upper bound on the splitting of invariant manifolds for hyperbolic tori, generalizing corresponding results for analytic Hamiltonians.

A new class of problems in the calculus of variations

Abstract: This paper investigates an infinite-horizon problem in the one-dimensional calculus of variations, arising from the Ramsey model of endogeneous economic growth. Following Chichilnisky, we introduce an additional term, which models concern for the well-being of future generations. We show that there are no optimal solutions, but that there are equilibrium strateges, i.e. Nash equilibria of the leader-follower game between successive generations. To solve the problem, we approximate the Chichilnisky criterion by a biexponential criterion, we characterize its equilibria by a pair of coupled differential equations of HJB type, and we go to the limit. We find all the equilibrium strategies for the Chichilnisky criterion. The mathematical analysis is difficult because one has to solve an implicit differential equation in the sense of Thom. Our analysis extends earlier work by Ekeland and Lazrak.

An estimation for the hyperbolic region of elliptic Lagrangian solutions in the planar three-body problem

Abstract: It is well known that the linear stability of elliptic Lagrangian solutions depends on the mass parameter β = 27(m 1 m 2 + m 2 m 3 + m 3 m 1)/(m 1 + m 2 + m 3)2 ∈ [0, 9] and the eccentricity e ∈ [0, 1). Based on new techniques for evaluating the hyperbolicity and the recently developed trace formula for Hamiltonian systems [9], we identify regions for (β, e) such that elliptic Lagrangian solutions are hyperbolic. Consequently, we have proven that the elliptic relative equilibrium of square central configurations is hyperbolic with any eccentricity.

On a class of integrable systems with a quartic first integral

Abstract: We generalize, to some extent, the results on integrable geodesic flows on two dimensional manifolds with a quartic first integral in the framework laid down by Selivanova and Hadeler. The local structure is first determined by a direct integration of the differential system which expresses the conservation of the quartic observable and is seen to involve a finite number of parameters. The global structure is studied in some detail and leads to a class of models on the manifolds {ie394-1}2, ℍ2 or ℝ2. As special cases we recover Kovalevskaya’s integrable system and a generalization of it due to Goryachev.

Vortex pairs and dipoles

Abstract: Point vortices have been extensively studied in vortex dynamics. The generalization to higher singularities, starting with vortex dipoles, is not so well understood.We obtain a family of equations of motion for inviscid vortex dipoles and discuss limitations of the concept. We then investigate viscous vortex dipoles, using two different formulations to obtain their propagation velocity. We also derive an integro-differential for the motion of a viscous vortex dipole parallel to a straight boundary.

The Dynamics of the Chaplygin Ball with a Fluid-filled Cavity

Abstract: We consider the problem of rolling of a ball with an ellipsoidal cavity filled with an ideal fluid, which executes a uniform vortex motion, on an absolutely rough plane. We point out the case of existence of an invariant measure and show that there is a particular case of integrability under conditions of axial symmetry.

Falling Motion of a Circular Cylinder Interacting Dynamically with a Point Vortex

Abstract: The dynamical behavior of a heavy circular cylinder and a point vortex in an unbounded volume of ideal liquid is considered. The liquid is assumed to be irrotational and at rest at infinity. The circulation about the cylinder is different from zero. The governing equations are Hamiltonian and admit an evident autonomous integral of motion — the horizontal component of the linear momentum. Using the integral we reduce the order and thereby obtain a system with two degrees of freedom. The stability of equilibrium solutions is investigated and some remarkable types of partial solutions of the system are presented.

Shilnikov lemma for a nondegenerate critical manifold of a Hamiltonian system

Abstract: Let M be a normally hyperbolic symplectic critical manifold of a Hamiltonian system. Suppose M consists of equilibria with real eigenvalues. We prove an analog of the Shilnikov lemma (strong version of the λ-lemma) describing the behavior of trajectories near M. Using this result, trajectories shadowing chains of homoclinic orbits to M are represented as extremals of a discrete variational problem. Then the existence of shadowing periodic orbits is proved. This paper is motivated by applications to the Poincare’s second species solutions of the 3 body problem with 2 masses small of order µ. As µ → 0, double collisions of small bodies correspond to a symplectic critical manifold M of the regularized Hamiltonian system. Thus our results imply the existence of Poincare’s second species (nearly collision) periodic solutions for the unrestricted 3 body problem.

Dynamics and self-propulsion of a spherical body shedding coaxial vortex rings in an ideal fluid

Abstract: We describe a model for the dynamic interaction of a sphere with uniform density and a system of coaxial circular vortex rings in an ideal fluid of equal density. At regular intervals in time, a constraint is imposed that requires the velocity of the fluid relative to the sphere to have no component transverse to a particular circular contour on the sphere. In order to enforce this constraint, new vortex rings are introduced in a manner that conserves the total momentum in the system. This models the shedding of rings from a sharp physical ridge on the sphere coincident with the circular contour. If the position of the contour is fixed on the sphere, vortex shedding is a source of drag. If the position of the contour varies periodically, propulsive rings may be shed in a manner that mimics the locomotion of certain jellyfish. We present simulations representing both cases.

Semi-concave singularities and the Hamilton-Jacobi equation

Abstract: We study the Cauchy problem for the Hamilton-Jacobi equation with a semiconcave initial condition. We prove an inequality between two types of weak solutions emanating from such an initial condition (the variational and the viscosity solution).We also give conditions for an explicit semi-concave function to be a viscosity solution. These conditions generalize the entropy inequality characterizing piecewise smooth solutions of scalar conservation laws in dimension one.