Showing papers on "Equations of motion published in 2005"

Quantum Dynamics of System Strongly Coupled to Low-Temperature Colored Noise Bath: Reduced Hierarchy Equations Approach

Abstract: Reduced equations of motion for a two-level system strongly coupled to a harmonic oscillators bath are constructed by extending the hierarchy of equations introduced by Tanimura and Kubo [J. Phys. ...

Chaos and threshold for irreversibility in sheared suspensions

Abstract: Systems governed by time reversible equations of motion often give rise to irreversible behaviour. The transition from reversible to irreversible behaviour is fundamental to statistical physics, but has not been observed experimentally in many-body systems. The flow of a newtonian fluid at low Reynolds number can be reversible: for example, if the fluid between concentric cylinders is sheared by boundary motion that is subsequently reversed, then all fluid elements return to their starting positions. Similarly, slowly sheared suspensions of solid particles, which occur widely in nature and science, are governed by time reversible equations of motion. Here we report an experiment showing precisely how time reversibility6 fails for slowly sheared suspensions. We find that there is a concentration dependent threshold for the deformation or strain beyond which particles do not return to their starting configurations after one or more cycles. Instead, their displacements follow the statistics of an anisotropic random walk. By comparing the experimental results with numerical simulations, we demonstrate that the threshold strain is associated with a pronounced growth in the Lyapunov exponent (a measure of the strength of chaotic particle interactions). The comparison illuminates the connections between chaos, reversibility and predictability.

Nonlinear Flight Dynamics of Very Flexible Aircraft

Abstract: This paper focuses on the characterization of the response of a very ∞exible aircraft in ∞ight. The 6-DOF equations of motion of a reference point on the aircraft are coupled with the aeroelastic equations that govern the geometrically nonlinear structural response of the vehicle. A low-order strain-based nonlinear structural analysis coupled with unsteady flnite-state potential ∞ow aerodynamics form the basis for the aeroelastic model. The nonlinear beam structural model assumes constant strain over an element in extension, twist, and in/out of plane bending. The geometrically nonlinear structural formulation, the flnite state aerodynamic model, and the nonlinear rigid body equations together provide a low-order complete nonlinear aircraft analysis tool. The equations of motion are integrated using an implicit modifled generalized-alpha method. The method incorporates both flrst and second order nonlinear equations without the necessity of transforming the equations to flrst order and incorporates a Newton-Raphson sub-iteration scheme at each time step. Using the developed tool, analyses and simulations can be conducted which encompass nonlinear rigid body, nonlinear rigid body coupled with linearized structural solutions, and full nonlinear rigid body and structural solutions. Simulations are presented which highlight the importance of nonlinear structural modeling as compared to rigid body and linearized structural analyses in a representative High Altitude Long Endurance (HALE) vehicle. Results show signiflcant difierences in the three reference point axes (pitch, roll, and yaw) not previously captured by linearized or rigid body approaches. The simulations using both full and empty fuel states include level gliding descent, low-pass flltered square aileron input rolling/gliding descent, and low-pass square elevator input gliding descent. Results are compared for rigid body, linearized structural, and nonlinear structural response.

Locomotion of articulated bodies in a perfect fluid

Abstract: This paper is concerned with modeling the dynamics of N articulated solid bodies submerged in an ideal fluid. The model is used to analyze the locomotion of aquatic animals due to the coupling between their shape changes and the fluid dynamics in their environment. The equations of motion are obtained by making use of a two-stage reduction process which leads to significant mathematical and computational simplifications. The first reduction exploits particle relabeling symmetry: that is, the symmetry associated with the conservation of circulation for ideal, incompressible fluids. As a result, the equations of motion for the submerged solid bodies can be formulated without explicitly incorporating the fluid variables. This reduction by the fluid variables is a key difference with earlier methods, and it is appropriate since one is mainly interested in the location of the bodies, not the fluid particles. The second reduction is associated with the invariance of the dynamics under superimposed rigid motions. This invariance corresponds to the conservation of total momentum of the solid-fluid system. Due to this symmetry, the net locomotion of the solid system is realized as the sum of geometric and dynamic phases over the shape space consisting of allowable relative motions, or deformations, of the solids. In particular, reconstruction equations that govern the net locomotion at zero momentum, that is, the geometric phases, are obtained. As an illustrative example, a planar three-link mechanism is shown to propel and steer itself at zero momentum by periodically changing its shape. Two solutions are presented: one corresponds to a hydrodynamically decoupled mechanism and one is based on accurately computing the added inertias using a boundary element method. The hydrodynamically decoupled model produces smaller net motion than the more accurate model, indicating that it is important to consider the hydrodynamic interaction of the links.

The effect of long-range forces on the dynamics of a bar

Abstract: The one-dimensional dynamic response of an infinite bar composed of a linear “microelastic material” is examined. The principal physical characteristic of this constitutive model is that it accounts for the effects of long-range forces. The general theory that describes our setting, including the accompanying equation of motion, was developed independently by Kunin (Elastic Media with Microstructure I, 1982), Rogula (Nonlocal Theory of Material Media, 1982) and Silling (J. Mech. Phys. Solids 48 (2000) 175), and is called the peridynamic theory. The general initial-value problem is solved and the motion is found to be dispersive as a consequence of the long-range forces. The result converges, in the limit of short-range forces, to the classical result for a linearly elastic medium. Explicit solutions in elementary form are given in a broad class of special cases. The most striking observations arise in the Riemann-like problem corresponding to a constant initial displacement field and a piecewise constant initial velocity field. Even though, initially, the displacement field is continuous, it involves a jump discontinuity for all later times, the Lagrangian location of which remains stationary. For some materials the magnitude of the discontinuity-jump oscillates about an average value, while for others it grows monotonically, presumably fracturing the material when it exceeds some critical level.

A nonlinear unified state-space model for ship maneuvering and control in a seaway

Abstract: This article presents a unified state-space model for ship maneuvering, station-keeping, and control in a seaway. The frequency-dependent potential and viscous damping terms, which in classic theory results in a convolution integral not suited for real-time simulation, is compactly represented by using a state-space formulation. The separation of the vessel model into a low-frequency model (represented by zero-frequency added mass and damping) and a wave-frequency model (represented by motion transfer functions or RAOs), which is commonly used for simulation, is hence made superfluous.

Duality in linearized gravity

Abstract: We show that duality transformations of linearized gravity in four dimensions, i.e., rotations of the linearized Riemann tensor and its dual into each other, can be extended to the dynamical fields of the theory so as to be symmetries of the action and not just symmetries of the equations of motion. Our approach relies on the introduction of two superpotentials, one for the spatial components of the spin-2 field and the other for their canonically conjugate momenta. These superpotentials are two-index, symmetric tensors. They can be taken to be the basic dynamical fields and appear locally in the action. They are simply rotated into each other under duality. In terms of the superpotentials, the canonical generator of duality rotations is found to have a Chern-Simons-like structure, as in the Maxwell case.

Effective Equations of Motion for Quantum Systems

Abstract: In many situations, one can approximate the behavior of a quantum system, i.e. a wave function subject to a partial differential equation, by effective classical equations which are ordinary differential equations. A general method and geometrical picture is developed and shown to agree with effective action results, commonly derived through path integration, for perturbations around a harmonic oscillator ground state. The same methods are used to describe dynamical coherent states, which in turn provide means to compute quantum corrections to the symplectic structure of an effective system.

Surface stress effects on the resonance properties of cantilever sensors

Abstract: The effect of surface stress on the resonance frequency of a cantilever sensor is modeled analytically by incorporating strain-dependent surface stress terms into the equations of motion. This mechanistic approach can be equated with a corresponding thermodynamic description, allowing basic equations to be derived that link the analysis to experimentally determined parameters. Examples are shown for the cases of a pure surface stress and an adsorption-induced surface stress, and indicate that frequency measurements may be useful for fundamental understanding of surface and adsorption-induced stresses on metals, semiconductors, and nanoscale structures. Application to biomolecular adsorption sensors appears unlikely.

Newton-type algorithms for dynamics-based robot movement optimization

Abstract: This paper describes Newton and quasi-Newton optimization algorithms for dynamics-based robot movement generation. The robots that we consider are modeled as rigid multibody systems containing multiple closed loops, active and passive joints, and redundant actuators and sensors. While one can, in principle, always derive in analytic form the equations of motion for such systems, the ensuing complexity, both numeric and symbolic, of the equations makes classical optimization-based movement-generation schemes impractical for all but the simplest of systems. In particular, numerically approximating the gradient and Hessian often leads to ill-conditioning and poor convergence behavior. We show in this paper that, by extending (to the general class of systems described above) a Lie theoretic formulation of the equations of motion originally developed for serial chains, it is possible to recursively evaluate the dynamic equations, the analytic gradient, and even the Hessian for a number of physically plausible objective functions. We show through several case studies that, with exact gradient and Hessian information, descent-based optimization methods can be forged into an effective and reliable tool for generating physically natural robot movements.

Matter-wave solitons of collisionally inhomogeneous condensates

Abstract: We investigate the dynamics of matter-wave solitons in the presence of a spatially varying atomic scattering length and nonlinearity. The dynamics of bright and dark solitary waves is studied using the corresponding Gross-Pitaevskii equation. The numerical results are shown to be in very good agreement with the predictions of the effective equations of motion derived by adiabatic perturbation theory. The spatially dependent nonlinearity is found to lead to a gravitational potential, as well as to a renormalization of the parabolic potential coefficient. This feature allows one to influence the motion of fundamental as well as higher-order solitons.

Classical And Quantum Dissipative Systems

Abstract: Phenomenological Equations of Motion for Dissipative Systems Lagrangian Hamiltonian and Hamilton-Jacobi Formulation of the Classical Dissipative Systems Noether's Theorem and Non-Noether Conservation Laws Dissipative Forces Derived from Many-Body Problems A Particle Coupled to a Field and the Damped Motion of a Central Particle Coupled to a Heat Bath Quantization of Dissipative Systems in General and of Explicitly Time-Dependent Hamiltonians in Particular Density Matrix and the Wigner Distribution Function for Damped Systems Path Integral Formulation of a Damped Harmonic Oscillator Quantization of the Motion of an Infinite Chain Heisenberg's Equations of Motion for a Particle Coupled to a Heat Bath Quantum Mechanical Models of Dissipative Systems and the Concept of Optical Potential.

Mathematical Modeling in Continuum Mechanics

Abstract: Part I. Fundamental Concepts in Continuum Mechanics: 1. Describing the motion of a system: geometry and kinematics 2. The fundamental law of dynamics 3. The Cauchy stress-tensor. Applications 4. Real and virtual powers 5. Deformation tensor. Deformation rate tensor. Constitutive laws 6. Energy equations. Shock equations Part II. Physics of Fluids: 7. General properties of Newtonian fluids 8. Flows of perfect fluids 9. Viscous fluids and thermohydraulics 10. Magnetohydrodynamics and inertial confinement of plasmas 11. Combustion 12. Equations of the atmosphere and of the ocean Part III. Solid Mechanics: 13. The general equations of linear elasticity 14. Classical problems of elastostatics 15. Energy theorems. Duality. Variational formulations 16. Introduction to nonlinear constitutive laws and to homogenization Part IV. Introduction to Wave Phenomena: 17. Linear wave equations in mechanics 18. The soliton equation: the Korteweg-de Vries equations 19. The nonlinear Schrodinger equation Appendix A.

On the estimation of swimming and flying forces from wake measurements

Abstract: The transfer of momentum from an animal to fluid in its wake is fundamental to many swimming and flying modes of locomotion. Hence, properties of the wake are commonly studied in experiments to infer the magnitude and direction of locomotive forces. The determination of which wake properties are necessary and sufficient to empirically deduce swimming and flying forces is currently made ad hoc. This paper systematically addresses the question of the minimum number of wake properties whose combination is sufficient to determine swimming and flying forces from wake measurements. In particular, it is confirmed that the spatial velocity distribution (i.e. the velocity field) in the wake is by itself insufficient to determine swimming and flying forces, and must be combined with the fluid pressure distribution. Importantly, it is also shown that the spatial distribution of rotation and shear (i.e. the vorticity field) in the wake is by itself insufficient to determine swimming and flying forces, and must be combined with a parameter that is analogous to the fluid pressure. The measurement of this parameter in the wake is shown to be identical to a calculation of the added-mass contribution from fluid surrounding vortices in the wake, and proceeds identically to a measurement of the added-mass traditionally associated with fluid surrounding solid bodies. It is demonstrated that the velocity/pressure perspective is equivalent to the vorticity/vortex-added-mass approach in the equations of motion. A model is developed to approximate the contribution of wake vortex added-mass to locomotive forces, given a combination of velocity and vorticity field measurements in the wake. A dimensionless parameter, the wake vortex ratio (denoted Wa), is introduced to predict the types of wake flows for which the contribution of forces due to wake vortex added-mass will become non-negligible. Previous wake analyses are re-examined in light of this parameter to infer the existence and importance of wake vortex added-mass in those cases. In the process, it is demonstrated that the commonly used time-averaged force estimates based on wake measurements are not sufficient to prove that an animal is generating the locomotive forces necessary to sustain flight or maintain neutral buoyancy.

Fundamentals Of Multibody Dynamics. Theory And Applications

Abstract: Preface Particle Dynamics: The Principle fo Newton's Second Law Rigid-Body Kinematics Kinematics for General Multibody Systems Modeling of Forces in Multibody Systems Equations of Motion of Multibody Systems Hamilton-Lagrange and Gibbs-Appel Equations Handling of Constraints in Multibody Systems Dynamics Numerical Stability of Constrained Multibody Systems Linearization and Vibration Analysis of Multibody Systems Dynamics of Multibody Systems with Terminal Flexible Links Dynamic Analysis of Multiple Flexible-Body Systems Modeling of Flexibility Effects Using the Boundary-Element Method Appendix A: Multibody Dynamics Flowchart for the Construction of the Equations of Motion with Constraints Appendix B: Centroid Location and Area Moment of Inertia Appendix C: Center of Gravity and Mass Moment of Inertia of Homogeneous Solids Appendix D: Symbols Description Appendix E: Units and Conversion References Index

Lie Group Variational Integrators for the Full Body Problem

Abstract: We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of rigid body configurations. Both continuous equations of motion and variational integrators are developed in Lagrangian and Hamiltonian forms, and the reduction from the inertial frame to a relative coordinate system is also carried out. The Lie group variational integrators are shown to be symplectic, to preserve conserved quantities, and to guarantee exact evolution on the configuration space. One of these variational integrators is used to simulate the dynamics of two rigid dumbbell bodies.

Lagrange structure and quantization

Abstract: A path-integral quantization method is proposed for dynamical systems whose clas- sical equations of motion do not necessarily follow from the action principle. The key new notion behind this quantization scheme is the Lagrange structure which is more general than the La- grangian formalism in the same sense as Poisson geometry is more general than the symplectic one. The Lagrange structure is shown to admit a natural BRST description which is used to construct an AKSZ-type topological sigma-model. The dynamics of this sigma-model in d + 1 dimensions, being localized on the boundary, are proved to be equivalent to the original theory in d dimensions. As the topological sigma-model has a well defined action, it is path-integral quan- tized in the usual way that results in quantization of the original (not necessarily Lagrangian) theory. When the original equations of motion come from the action principle, the standard BV path-integral is explicitly deduced from the proposed quantization scheme. The general quanti- zation scheme is exemplified by several models including the ones whose classical dynamics are not variational.

Codimension-two branes in six-dimensional supergravity and the cosmological constant problem

Abstract: We investigate in detail recent suggestions that codimension-two braneworlds in six-dimensional supergravity might circumvent Weinberg's no-go theorem for self-tuning of the cosmological constant. The branes are given finite thickness in order to regularize mild singularities in their vicinity, and we allow them to have an arbitrary equation of state. We study perturbatively the time evolution of the solutions by solving the equations of motion linearized around a static background. Even allowing for the most general possibility of warping and nonconical singularities, the geometry does not relax to a static solution when the brane stress energies are perturbed. Rather, both the internal and external geometries become time dependent, and the system does not exhibit any self-tuning behavior.

Molecular dynamics with the united-residue model of polypeptide chains. I. Lagrange equations of motion and tests of numerical stability in the microcanonical mode.

Abstract: The Lagrange formalism was implemented to derive the equations of motion for the physics-based united-residue (UNRES) force field developed in our laboratory. The C(alpha)...C(alpha) and C(alpha)...SC (SC denoting a side-chain center) virtual-bond vectors were chosen as variables. The velocity Verlet algorithm was adopted to integrate the equations of motion. Tests on the unblocked Ala(10) polypeptide showed that the algorithm is stable in short periods of time up to the time step of 1.467 fs; however, even with the shorter time step of 0.489 fs, some drift of the total energy occurs because of momentary jumps of the acceleration. These jumps are caused by numerical instability of the forces arising from the U(rot) component of UNRES that describes the energetics of side-chain-rotameric states. Test runs on the Gly(10) sequence (in which U(rot) is not present) and on the Ala(10) sequence with U(rot) replaced by a simple numerically stable harmonic potential confirmed this observation; oscillations of the total energy were observed only up to the time step of 7.335 fs, and some drift in the total energy or instability of the trajectories started to appear in long-time (2 ns and longer) trajectories only for the time step of 9.78 fs. These results demonstrate that the present U(rot) components (which are statistical potentials derived from the Protein Data Bank) must be replaced with more numerically stable functions; this work is under way in our laboratory. For the purpose of our present work, a nonsymplectic variable-time-step algorithm was introduced to reduce the energy drift for regular polypeptide sequences. The algorithm scales down the time step at a given point of a trajectory if the maximum change of acceleration exceeds a selected cutoff value. With this algorithm, the total energy is reasonably conserved up to a time step of 2.445 fs, as tested on the unblocked Ala(10) polypeptide. We also tried a symplectic multiple-time-step reversible RESPA algorithm and achieved satisfactory energy conservation for time steps up to 7.335 fs. However, at present, it appears that the reversible RESPA algorithm is several times more expensive than the variable-time-step algorithm because of the necessity to perform additional matrix multiplications. We also observed that, because Ala(10) folds and unfolds within picoseconds in the microcanonical mode, this suggests that the effective (event-based) time unit in UNRES dynamics is much larger than that of all-atom dynamics because of averaging over the fast-moving degrees of freedom in deriving the UNRES potential.

Non-linear vibrations of doubly curved shallow shells

Abstract: Large amplitude (geometrically non-linear) vibrations of doubly curved shallow shells with rectangular base, simply supported at the four edges and subjected to harmonic excitation normal to the surface in the spectral neighbourhood of the fundamental mode are investigated. Two different non-linear strain–displacement relationships, from the Donnell's and Novozhilov's shell theories, are used to calculate the elastic strain energy. In-plane inertia and geometric imperfections are taken into account. The solution is obtained by Lagrangian approach. The non-linear equations of motion are studied by using (i) a code based on arclength continuation method that allows bifurcation analysis and (ii) direct time integration. Numerical results are compared to those available in the literature and convergence of the solution is shown. Interaction of modes having integer ratio among their natural frequencies, giving rise to internal resonances, is discussed. Shell stability under static and dynamic load is also investigated by using continuation method, bifurcation diagram from direct time integration and calculation of the Lyapunov exponents and Lyapunov dimension. Interesting phenomena such as (i) snap-through instability, (ii) subharmonic response, (iii) period doubling bifurcations and (iv) chaotic behaviour have been observed.