The Hess–Appelrot Case and Quantization of the Rotation Number
Regular and Chaotic Dynamics, 2017, vol. 22, no. 2, pp. 180-196
Abstract
pdf (511.99 Kb)
This paper is concerned with the Hess case in the Euler–Poisson equations and with its generalization on the pencil of Poisson brackets. It is shown that in this case the problem reduces to investigating the vector field on a torus and that the graph showing the dependence of the rotation number on parameters has horizontal segments (limit cycles) only for integer values of the rotation number. In addition, an example of a Hamiltonian system is given which possesses an invariant submanifold (similar to the Hess case), but on which the dependence of the rotation number on parameters is a Cantor ladder.
Keywords:
invariant submanifold, rotation number, Cantor ladder, limit cycles
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., The Hess–Appelrot Case and Quantization of the Rotation Number, Regular and Chaotic Dynamics, 2017, vol. 22, no. 2, pp. 180-196
Integrability and nonintegrability of sub-Riemannian geodesic flows on Carnot groups
Russian Journal of Nonlinear Dynamics, 2017, vol. 13, no. 1, pp. 129-146
Abstract
pdf (2.82 Mb)
This paper is concerned with two systems from sub-Riemannian geometry. One of them is defined by a Carnot group with three generatrices and growth vector (3, 6, 14), the other is defined by two generatrices and growth vector (2, 3, 5, 8). Using a Poincaré map, the nonintegrability of the above systems in the general case is shown. In addition, particular cases are presented in which there exist additional first integrals.
Keywords:
sub-Riemannian geometry, Carnot group, Poincaré map, first integrals
Citation:
Bizyaev I. A., Borisov A. V., Kilin A. A., Mamaev I. S., Integrability and nonintegrability of sub-Riemannian geodesic flows on Carnot groups, Russian Journal of Nonlinear Dynamics, 2017, vol. 13, no. 1, pp. 129-146
Control of Body Motion in an Ideal Fluid Using the Internal Mass and the Rotor in the Presence of Circulation Around the Body
Journal of Dynamical and Control Systems, 2017, vol. 23, pp. 435-458
Abstract
pdf (1.49 Mb)
In this paper we study the controlled motion of an arbitrary two-dimensional body in an ideal fluid with a moving internal mass and an internal rotor in the presence of constant circulation around the body. We show that by changing the position of the internal mass and by rotating the rotor, the body can be made to move to a given point, and discuss the influence of nonzero circulation on the motion control. We have found that in the presence of circulation around the body the system cannot be completely stabilized at an arbitrary point of space, but fairly simple controls can be constructed to ensure that the body moves near the given point.
Keywords:
ideal fuid, controllability, Kirchhoff equations, circulation around the body
Citation:
Vetchanin E. V., Kilin A. A., Control of Body Motion in an Ideal Fluid Using the Internal Mass and the Rotor in the Presence of Circulation Around the Body, Journal of Dynamical and Control Systems, 2017, vol. 23, pp. 435-458
Experimental Investigation of the Dynamics of a Brake Shoe
Doklady Physics, 2016, vol. 61, no. 12, pp. 611-614
Abstract
pdf (414.8 Kb)
The experimental stand and the results of investigation of the motion of a brake shoe are described. In the noncritical region, the friction coefficient is determined experimentally. It is shown that its value corresponds to the condition of uniqueness of the solution for construction of this brake shoe. The dynamics observed in the paradoxical-motion region is described.
Citation:
Ivanova T. B., Erdakova N. N., Karavaev Y. L., Experimental Investigation of the Dynamics of a Brake Shoe, Doklady Physics, 2016, vol. 61, no. 12, pp. 611-614
Free and controlled motion of a body with moving internal mass though a fluid in the presence of circulation around the body
Doklady Physics, 2016, vol. 466, no. 3, pp. 293-297
Abstract
pdf (300.44 Kb)
In this paper, we study the free and controlled motion of an arbitrary two-dimensional body with a moving internal material point through an ideal fluid in presence of constant circulation around the body. We perform bifurcation analysis of free motion (with fixed internal mass). We show that by changing the position of the internal mass the body can be made to move to a specified point. There are a number of control problems associated with the nonzero drift of the body in the case of fixed internal mass.
Citation:
Vetchanin E. V., Kilin A. A., Free and controlled motion of a body with moving internal mass though a fluid in the presence of circulation around the body, Doklady Physics, 2016, vol. 466, no. 3, pp. 293-297
Modern problems of mechanics, Collected papers
Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, 351 pp.
Abstract
The volume presents studies on various issues in mechanics and dynamical systems theory, including the self-similar piston problem in a Prandtl–Reuss elastoplastic medium with special properties, homogenization of acoustic equations for a heterogeneous layered medium consisting of creep materials, spectral stability of shock waves in singular limits of smooth heteroclinic solutions to an extended system of equations, and stability of periodic orbits of a planar Birkhoff billiard. The problem of Arnold diffusion, dynamics of nonholonomic systems, integrable systems in analytical mechanics, and problems of the KAM theory in infinite-dimensional Hamiltonian systems are also discussed.
The volume is of interest to researchers, postgraduates, and students specializing in analytical mechanics and continuum mechanics.
Citation:
Kozlov V. V., Sergeev A. G., Modern problems of mechanics, Collected papers, Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, 351 pp.
Controlled Motion of a Rigid Body with Internal Mechanisms in an Ideal Incompressible Fluid
Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 302-332
Abstract
pdf (1.36 Mb)
We consider the controlled motion in an ideal incompressible fluid of a rigid body
with moving internal masses and an internal rotor in the presence of circulation of the fluid
velocity around the body. The controllability of motion (according to the Rashevskii–Chow
theorem) is proved for various combinations of control elements. In the case of zero circulation,
we construct explicit controls (gaits) that ensure rotation and rectilinear (on average) motion.
In the case of nonzero circulation, we examine the problem of stabilizing the body (compensating
the drift) at the end point of the trajectory. We show that the drift can be compensated for if
the body is inside a circular domain whose size is defined by the geometry of the body and the
value of circulation.
Citation:
Vetchanin E. V., Kilin A. A., Controlled Motion of a Rigid Body with Internal Mechanisms in an Ideal Incompressible Fluid, Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 302-332
Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments
Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 158-167
Abstract
pdf (366.98 Kb)
We present the results of theoretical and experimental investigations of the motion
of a spherical robot on a plane. The motion is actuated by a platform with omniwheels placed
inside the robot. The control of the spherical robot is based on a dynamic model in the
nonholonomic statement expressed as equations of motion in quasivelocities with indeterminate
coefficients. A number of experiments have been carried out that confirm the adequacy of the
dynamic model proposed.
Citation:
Karavaev Y. L., Kilin A. A., Nonholonomic Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform: Theory and Experiments, Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 158-167
Generalizations of the Kovalevskaya Case and Quaternions
Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 33-44
Abstract
pdf (190.82 Kb)
This paper provides a detailed description of various reduction schemes in rigid
body dynamics. The analysis of one of such nontrivial reductions makes it possible to put the
cases already found in order and to obtain new generalizations of the Kovalevskaya case to $e(3)$.
Note that the indicated reduction allows one to obtain in a natural way some singular additive
terms that were proposed earlier by D.N. Goryachev.
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., Generalizations of the Kovalevskaya Case and Quaternions, Proceedings of the Steklov Institute of Mathematics, 2016, vol. 295, pp. 33-44
The Hess–Appelrot system and its nonholonomic analogs
Proceedings of the Steklov Institute of Mathematics, 2016, vol. 294, pp. 268-292
Abstract
pdf (1.23 Mb)
This paper is concerned with the nonholonomic Suslov problem
and its generalization proposed by Chaplygin. The issue of the existence
of an invariant measure with singular density (having singularities at some
points of phase space) is discussed.
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., The Hess–Appelrot system and its nonholonomic analogs, Proceedings of the Steklov Institute of Mathematics, 2016, vol. 294, pp. 268-292
Topology of the configuration space, singularities of the potential, and polynomial integrals of equations of dynamics
Sbornik: Mathematics, 2016, vol. 207, no. 10, pp. 1435–1449
Abstract
For integrable systems with two degrees of freedom there are well-known inequalities connecting the Euler characteristic of the configuration space (as a closed two-dimensional surface) with the number of singular points of Newtonian type of the potential energy. On the other hand, there are results on conditions for ergodicity of systems on a two-dimensional torus with short-range potential depending only on the distance from an attracting or repelling centre. In the present paper we consider the problem of conditions for the existence of nontrivial first integrals that are polynomial in the momenta of the problem of motion of a particle on a multi-dimensional Euclidean torus in a force field whose potential has singularity points. These conditions depend only on the order of the singularity, and in the two-dimensional case they are satisfied by potentials with singularities of Newtonian type.
Keywords:
polynomial integrals, potentials with singularities, order of singularity, Poincaré condition
Citation:
Kozlov V. V., Treschev D. V., Topology of the configuration space, singularities of the potential, and polynomial integrals of equations of dynamics, Sbornik: Mathematics, 2016, vol. 207, no. 10, pp. 1435–1449
Bifurcation Analysis of the Motion of a Cylinder and a Point Vortex in an Ideal Fluid
Mathematical Notes, 2016, vol. 99, no. 6, pp. 834-839
Abstract
pdf (545.15 Kb)
We consider an integrable Hamiltonian system describing the motion of a circular cylinder and a vortex filament in an ideal fluid. We construct bifurcation diagrams and bifurcation complexes for the case in which the integral manifold is compact and for various topological structures of the symplectic leaf. The types of motions corresponding to the bifurcation curves and their stability are discussed.
Borisov A. V., Ryabov P. E., Sokolov S. V., Bifurcation Analysis of the Motion of a Cylinder and a Point Vortex in an Ideal Fluid, Mathematical Notes, 2016, vol. 99, no. 6, pp. 834-839
On the equations of the hydrodynamic type
Journal of Applied Mathematics and Mechanics, 2016, vol. 80, no. 3, pp. 209–214
Abstract
The conditions of stability of ‘pure’ equilibrium states of finite-dimensional dynamical systems of the hydrodynamic type are indicated. Integrable chains allowing full sets of quadratic first integrals are found. The conditions of existence of invariant Gaussian measures in the infinite-dimensional case are discussed. The existence of such measures makes it possible to establish the properties of recurrence of solutions of infinite-dimensional dynamical systems of the hydrodynamic type.
Citation:
Kozlov V. V., On the equations of the hydrodynamic type, Journal of Applied Mathematics and Mechanics, 2016, vol. 80, no. 3, pp. 209–214
Invariant measures of smooth dynamical systems, generalized functions and summation methods
Izvestiya: Mathematics, 2016, vol. 80, no. 2, pp. 342–358
Abstract
pdf (289.71 Kb)
We discuss conditions for the existence of invariant measures of smooth dynamical systems on compact manifolds. If there is an invariant measure with continuously differentiable density, then the divergence of the vector field along every solution tends to zero in the Cesaro sense as time increases unboundedly. Here the Cesaro convergence may be replaced, for example, by any Riesz summation method, which can be arbitrarily close to ordinary convergence (but does not coincide with it). We give an example of a system whose divergence tends to zero in the ordinary sense but none of its invariant measures is absolutely continuous with respect to the `standard' Lebesgue measure (generated by some Riemannian metric) on the phase space. We give examples of analytic systems of differential equations on analytic phase spaces admitting invariant measures of any prescribed smoothness (including a measure with integrable density), but having no invariant measures with positive continuous densities. We give a new proof of the classical Bogolyubov-Krylov theorem using generalized functions and the Hahn-Banach theorem. The properties of signed invariant measures are also discussed.
Keywords:
invariant measures, generalized functions, summation methods, small denominators, Hahn–Banach theorem
Citation:
Kozlov V. V., Invariant measures of smooth dynamical systems, generalized functions and summation methods, Izvestiya: Mathematics, 2016, vol. 80, no. 2, pp. 342–358
Dynamics of a Painlevé-Appel system
Journal of Applied Mathematics and Mechanics, 2016, vol. 80, no. 1, pp. 7-15
Abstract
pdf (1.78 Mb)
The dynamics of a Painlevé–Appell system consisting of two point masses joined by a weightless rigid rodis studied within two mechanical models, which describe different motion regimes. One of the massescan slide or can be supported at rest on a rough straight line. The boundaries of the region of definitionof each of the models are presented, and the transitions between them are analysed for various frictioncoefficients.
Citation:
Ivanova T. B., Mamaev I. S., Dynamics of a Painlevé-Appel system, Journal of Applied Mathematics and Mechanics, 2016, vol. 80, no. 1, pp. 7-15
Polynomial conservation laws for the Lorentz gas and the Boltzmann–Gibbs gas
Russian Mathematical Surveys, 2016, vol. 71, no. 2, pp. 253–290
Abstract
pdf (723.26 Kb)
The problem of conditions ensuring the existence of first integrals that are polynomials in the momenta (velocities) is considered for certain multidimensional billiard systems which play an important role in non-equilibrium statistical mechanics. These are the Lorentz gas, a particle in a Euclidean space with (not necessarily convex) scattering domains, and the Boltzmann–Gibbs gas, a system of small identical balls in a rectangular box which collide elastically with one another and the walls of the box. The ergodic properties of such systems are only partially understood: some problems are still waiting for solution, and in certain cases (for instance, when the scatterers are non-convex) the system is known not to be ergodic. An approach to showing the absence of a non-trivial polynomial first integral with continuously differentiable coefficients is developed. The known first integrals for integrable problems in dynamics are mostly polynomials in the momenta (or functions of polynomials). The investigation of multidimensional billiards with non-compact configuration space, when there is no hope for ergodic behaviour, is of particular interest. Applications of the general results on the absence of non-trivial polynomial integrals to problems in statistical mechanics are discussed.
Keywords:
Birkhoff billiards, Lorentz gas, Boltzmann–Gibbs gas, polynomial integral, topological obstructions to integrability, elastic reflection, KAM theory
Citation:
Kozlov V. V., Polynomial conservation laws for the Lorentz gas and the Boltzmann–Gibbs gas, Russian Mathematical Surveys, 2016, vol. 71, no. 2, pp. 253–290
Describing the Motion of a Body with an Elliptical Cross Section in a Viscous Uncompressible Fluid by Model Equations Reconstructed from Data Processing
Technical Physics Letters, 2016, vol. 42, no. 9, pp. 886-890
Abstract
pdf (508.12 Kb)
From analysis of time series obtained on the numerical solution of a plane problem on the motion
of a body with an elliptic cross section under the action of gravity force in an incompressible viscous fluid, a
system of ordinary differential equations approximately describing the dynamics of the body is reconstructed.
To this end, coefficients responsible for the added mass, the force caused by the circulation of the velocity
field, and the resisting force are found by the least square adjustment. The agreement between the finitedimensional
description and the simulation on the basis of the Navier–Stokes equations is illustrated by
images of attractors in regular and chaotic modes. The coefficients found make it possible to estimate the
actual contribution of different effects to the dynamics of the body.
Citation:
Borisov A. V., Kuznetsov S. P., Mamaev I. S., Tenenev V. A., Describing the Motion of a Body with an Elliptical Cross Section in a Viscous Uncompressible Fluid by Model Equations Reconstructed from Data Processing, Technical Physics Letters, 2016, vol. 42, no. 9, pp. 886-890
Control of the Motion of a Helical Body in a Fluid Using Rotors
Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 874-884
Abstract
pdf (1.23 Mb)
This paper is concerned with the motion of a helical body in an ideal fluid, which is controlled by rotating three internal rotors. It is proved that the motion of the body is always controllable by means of three rotors with noncoplanar axes of rotation. A condition whose satisfaction prevents controllability by means of two rotors is found. Control actions that allow the implementation of unbounded motion in an arbitrary direction are constructed. Conditions under which the motion of the body along an arbitrary smooth curve can be implemented by rotating the rotors are presented. For the optimal control problem, equations of sub-Riemannian geodesics on $SE(3)$ are obtained.
Keywords:
ideal fluid, motion of a helical body, Kirchhoff equations, control of rotors, gaits, optimal control
Citation:
Vetchanin E. V., Kilin A. A., Mamaev I. S., Control of the Motion of a Helical Body in a Fluid Using Rotors, Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 874-884
Regular and Chaotic Dynamics in the Rubber Model of a Chaplygin Top
Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 885-901
Abstract
pdf (2.21 Mb)
This paper is concerned with the rolling motion of a dynamically asymmetric unbalanced ball (Chaplygin top) in a gravitational field on a plane under the assumption that there is no slipping and spinning at the point of contact. We give a description of strange attractors existing in the system and discuss in detail the scenario of how one of them arises via a sequence of period-doubling bifurcations. In addition, we analyze the dynamics of the system in absolute space and show that in the presence of strange attractors in the system the behavior of the point of contact considerably depends on the characteristics of the attractor and can be both chaotic and nearly quasi-periodic.
Keywords:
Chaplygin top, nonholonomic constraint, rubber model, strange attractor, bifurcation, trajectory of the point of contact
Citation:
Borisov A. V., Kazakov A. O., Pivovarova E. N., Regular and Chaotic Dynamics in the Rubber Model of a Chaplygin Top, Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 885-901
Experimental Investigations of the Controlled Motion of a Screwless Underwater Robot
Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 918-926
Abstract
pdf (6.91 Mb)
In this paper we describe the results of experimental investigations of the motion of a screwless underwater robot controlled by rotating internal rotors. We present the results of comparison of the trajectories obtained with the results of numerical simulation using the model of an ideal fluid.
Keywords:
screwless underwater robot, experimental investigations, helical body
Citation:
Karavaev Y. L., Kilin A. A., Klekovkin A. V., Experimental Investigations of the Controlled Motion of a Screwless Underwater Robot, Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 918-926
Influence of Vortex Structures on the Controlled Motion of an Above-water Screwless Robot
Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 927-938
Abstract
pdf (6.5 Mb)
This paper is devoted to an experimental investigation of the motion of a rigid body set in motion by rotating two unbalanced internal masses. The results of experiments confirming the possibility of motion by this method are presented. The dependence of the parameters of motion on the rotational velocity of internal masses is analyzed. The velocity field of the fluid around the moving body is examined.
Klenov A. I., Kilin A. A., Influence of Vortex Structures on the Controlled Motion of an Above-water Screwless Robot, Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 927-938
Spiral Chaos in the Nonholonomic Model of a Chaplygin Top
Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 939-954
Abstract
pdf (2.21 Mb)
This paper presents a numerical study of the chaotic dynamics of a dynamically asymmetric unbalanced ball (Chaplygin top) rolling on a plane. It is well known that the dynamics of such a system reduces to the investigation of a three-dimensional map, which in the general case has no smooth invariant measure. It is shown that homoclinic strange attractors of discrete spiral type (discrete Shilnikov type attractors) arise in this model for certain parameters. From the viewpoint of physical motions, the trace of the contact point of a Chaplygin top on a plane is studied for the case where the phase trajectory sweeps out a discrete spiral attractor. Using the analysis of the trajectory of this trace, a conclusion is drawn
about the influence of “strangeness” of the attractor on the motion pattern of the top.
Borisov A. V., Kazakov A. O., Sataev I. R., Spiral Chaos in the Nonholonomic Model of a Chaplygin Top, Regular and Chaotic Dynamics, 2016, vol. 21, no. 7-8, pp. 939-954
Integrability and Nonintegrability of Sub-Riemannian Geodesic Flows on Carnot Groups
Regular and Chaotic Dynamics, 2016, vol. 21, no. 6, pp. 759-774
Abstract
pdf (3.48 Mb)
This paper is concerned with two systems from sub-Riemannian geometry. One of them is defined by a Carnot group with three generatrices and growth vector $(3, 6, 14)$, the other is defined by two generatrices and growth vector $(2, 3, 5, 8)$. Using a Poincaré map, the nonintegrability of the above systems in the general case is shown. In addition, particular cases are presented in which there exist additional first integrals.
Keywords:
sub-Riemannian geometry, Carnot group, Poincaré map, first integrals
Citation:
Bizyaev I. A., Borisov A. V., Kilin A. A., Mamaev I. S., Integrability and Nonintegrability of Sub-Riemannian Geodesic Flows on Carnot Groups, Regular and Chaotic Dynamics, 2016, vol. 21, no. 6, pp. 759-774
The Spatial Problem of 2 Bodies on a Sphere. Reduction and Stochasticity
Regular and Chaotic Dynamics, 2016, vol. 21, no. 5, pp. 556-580
Abstract
pdf (1.45 Mb)
In this paper, we consider in detail the 2-body problem in spaces of constant positive curvature $S^2$ and $S^3$. We perform a reduction (analogous to that in rigid body dynamics) after which the problem reduces to analysis of a two-degree-of-freedom system. In the general case, in canonical variables the Hamiltonian does not correspond to any natural mechanical system. In addition, in the general case, the absence of an analytic additional integral follows from the constructed Poincaré section. We also give a review of the historical development of celestial mechanics in spaces of constant curvature and formulate open problems.
Keywords:
celestial mechanics, space of constant curvature, reduction, rigid body dynamics, Poincaré section
Citation:
Borisov A. V., Mamaev I. S., Bizyaev I. A., The Spatial Problem of 2 Bodies on a Sphere. Reduction and Stochasticity, Regular and Chaotic Dynamics, 2016, vol. 21, no. 5, pp. 556-580
Historical and Critical Review of the Development of Nonholonomic Mechanics: the Classical Period
Regular and Chaotic Dynamics, 2016, vol. 21, no. 4, pp. 455-476
Abstract
pdf (1.87 Mb)
In this historical review we describe in detail the main stages of the development of nonholonomic mechanics starting from the work of Earnshaw and Ferrers to the monograph of Yu.I. Neimark and N.A. Fufaev. In the appendix to this review we discuss the d’Alembert–Lagrange principle in nonholonomic mechanics and permutation relations.
Borisov A. V., Mamaev I. S., Bizyaev I. A., Historical and Critical Review of the Development of Nonholonomic Mechanics: the Classical Period, Regular and Chaotic Dynamics, 2016, vol. 21, no. 4, pp. 455-476
The Dynamics of Vortex Sources in a Deformation Flow
Regular and Chaotic Dynamics, 2016, vol. 21, no. 3, pp. 367-376
Abstract
pdf (1.37 Mb)
This paper is concerned with the dynamics of vortex sources in a deformation flow. The case of two vortex sources is shown to be integrable by quadratures. In addition, the relative equilibria (of the reduced system) are examined in detail and it is shown that in this case the trajectory of vortex sources is an ellipse.
Bizyaev I. A., Borisov A. V., Mamaev I. S., The Dynamics of Vortex Sources in a Deformation Flow, Regular and Chaotic Dynamics, 2016, vol. 21, no. 3, pp. 367-376
Adiabatic Invariants, Diffusion and Acceleration in Rigid Body Dynamics
Regular and Chaotic Dynamics, 2016, vol. 21, no. 2, pp. 232-248
Abstract
pdf (941.28 Kb)
The onset of adiabatic chaos in rigid body dynamics is considered. A comparison of the analytically calculated diffusion coefficient describing probabilistic effects in the zone of chaos with a numerical experiment is made. An analysis of the splitting of asymptotic surfaces is performed and uncertainty curves are constructed in the Poincaré – Zhukovsky problem. The application of Hamiltonian methods to nonholonomic systems is discussed. New problem statements are given which are related to the destruction of an adiabatic invariant and to the acceleration of the system (Fermi’s acceleration).
Keywords:
adiabatic invariants, Liouville system, transition through resonance, adiabatic chaos
Citation:
Borisov A. V., Mamaev I. S., Adiabatic Invariants, Diffusion and Acceleration in Rigid Body Dynamics, Regular and Chaotic Dynamics, 2016, vol. 21, no. 2, pp. 232-248
Dynamics of the Chaplygin Sleigh on a Cylinder
Regular and Chaotic Dynamics, 2016, vol. 21, no. 1, pp. 136-146
Abstract
pdf (268.54 Kb)
This paper is concerned with the motion of the Chaplygin sleigh on the surface of a circular cylinder. In the case of inertial motion, the problem reduces to the study of the dynamical system on a (two-dimensional) torus and to the classification of singular points. Particular cases in which the system admits an invariant measure are found.
In the case of a balanced and dynamically symmetric Chaplygin sleigh moving in a gravitational field it is shown that on the average the system has no drift along the vertical.
Bizyaev I. A., Borisov A. V., Mamaev I. S., Dynamics of the Chaplygin Sleigh on a Cylinder, Regular and Chaotic Dynamics, 2016, vol. 21, no. 1, pp. 136-146
Regular and Chaotic Motions of a Chaplygin Sleigh under Periodic Pulsed Torque Impacts
Regular and Chaotic Dynamics, 2016, vol. 21, pp. 792-803
Abstract
pdf (1.65 Mb)
For a Chaplygin sleigh on a plane, which is a paradigmatic system of nonholonomic mechanics, we consider dynamics driven by periodic pulses of supplied torque depending on the instant spatial orientation of the sleigh. Additionally, we assume that a weak viscous force and moment affect the sleigh in time intervals between the pulses to provide sustained modes of the motion associated with attractors in the reduced three-dimensional phase space (velocity, angular velocity, rotation angle). The developed discrete version of the problem of the Chaplygin sleigh is an analog of the classical Chirikov map appropriate for the nonholonomic situation. We demonstrate numerically, discuss and classify dynamical regimes depending on the parameters, including regular motions and diffusive-like random walks associated, respectively, with regular and chaotic attractors in the reduced momentum dynamical equations.
Borisov A. V., Kuznetsov S. P., Regular and Chaotic Motions of a Chaplygin Sleigh under Periodic Pulsed Torque Impacts, Regular and Chaotic Dynamics, 2016, vol. 21, pp. 792-803
Dynamics of the Chaplygin sleigh on a cylinder
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 4, pp. 675–687
Abstract
pdf (331.42 Kb)
This paper is concerned with the motion of the Chaplygin sleigh on the surface of a circular cylinder. In the case of inertial motion, the problem reduces to the study of the dynamical system on a (two-dimensional) torus and to the classification of singular points. Particular cases in which the system admits an invariant measure are found. In the case of a balanced and dynamically symmetric Chaplygin sleigh moving in a gravitational field it is shown that on the average the system has no drift along the vertical.
Bizyaev I. A., Borisov A. V., Mamaev I. S., Dynamics of the Chaplygin sleigh on a cylinder, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 4, pp. 675–687
Control of the motion of an unbalanced heavy ellipsoid in an ideal fluid using rotors
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 4, pp. 663–674
Abstract
pdf (304.78 Kb)
This paper is concerned with the motion of an unbalanced heavy three-axial ellipsoid in an ideal fluid controlled by rotation of three internal rotors. It is proved that the motion of the body considered is controlled with respect to configuration variables except for some special cases. An explicit control that makes it possible to implement unbounded motion in an arbitrary direction has been calculated. Directions for which control actions are bounded functions of time have been determined.
Keywords:
ideal fluid, motion of a rigid body, Kirchhoff equations, control by rotors, gaits
Citation:
Vetchanin E. V., Kilin A. A., Control of the motion of an unbalanced heavy ellipsoid in an ideal fluid using rotors, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 4, pp. 663–674
Historical and critical review of the development of nonholonomic mechanics: the classical period
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 3, pp. 385-411
Abstract
pdf (1.9 Mb)
In this historical review we describe in detail the main stages of the development of nonholonomic mechanics starting from the work of Earnshaw and Ferrers to the monograph of Yu.I. Neimark and N.A. Fufaev. In the appendix to this review we discuss the d’Alembert–Lagrange principle in nonholonomic mechanics and permutation relations.
Borisov A. V., Mamaev I. S., Bizyaev I. A., Historical and critical review of the development of nonholonomic mechanics: the classical period, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 3, pp. 385-411
Dynamics of the Suslov problem in a gravitational field: reversal and strange attractors
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 2, pp. 263-287
Abstract
pdf (3.54 Mb)
In this paper, we present some results on chaotic dynamics in the Suslov problem which describe the motion of a heavy rigid body with a fixed point, subject to a nonholonomic constraint, which is expressed by the condition that the projection of angular velocity onto the body-fixed axis is equal to zero. Depending on the system parameters, we find cases of regular (in particular, integrable) behavior and detect various attracting sets (including strange attractors) that are typical of dissipative systems.We construct a chart of regimes with regions characterizing chaotic and regular regimes depending on the degree of conservativeness. We examine in detail the effect of reversal, which was observed previously in the motion of rattlebacks.
Bizyaev I. A., Borisov A. V., Kazakov A. O., Dynamics of the Suslov problem in a gravitational field: reversal and strange attractors, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 2, pp. 263-287
Scenarios of transition to chaos in the nonholonomic model of a Chaplygin top
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 2, pp. 235-250
Abstract
pdf (1.54 Mb)
We study the dynamics in the Suslov problem which describes the motion of a heavy rigid body with a fixed point subject to a nonholonomic constraint, which is expressed by the condition that the projection of angular velocity onto the body-fixed axis is equal to zero. Depending on the system parameters, we find cases of regular (in particular, integrable) motions and, using a new method for constructing charts of Lyapunov exponents, detect different types of chaotic behavior such as conservative chaos, strange attractors and mixed dynamics, which are typical of reversible systems. In the paper we also examine the phenomenon of reversal, which was observed previously in the motion of Celtic stones.
Keywords:
nonholonomic model, Chaplygin top, Afraimovich – Shilnikov torus-breakdown, cascade of period-doubling bifurcations, scenario of period doublings of tori, figure-eight attractor
Citation:
Sataev I. R., Kazakov A. O., Scenarios of transition to chaos in the nonholonomic model of a Chaplygin top, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 2, pp. 235-250
On the Hadamard–Hamel problem and the dynamics of wheeled vehicles
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 1, pp. 145-163
Abstract
pdf (445.79 Kb)
In this paper, we develop the results obtained by J.Hadamard and G.Hamel concerning the possibility of substituting nonholonomic constraints into the Lagrangian of the system without changing the form of the equations of motion. We formulate the conditions for correctness of such a substitution for a particular case of nonholonomic systems in the simplest and universal form. These conditions are presented in terms of both generalized velocities and quasi-velocities. We also discuss the derivation and reduction of the equations of motion of an arbitrary wheeled vehicle. In particular, we prove the equivalence (up to additional quadratures) of problems of an arbitrary wheeled vehicle and an analogous vehicle whose wheels have been replaced with skates. As examples, we consider the problems of a one-wheeled vehicle and a wheeled vehicle with two rotating wheel pairs.
Keywords:
nonholonomic constraint, wheeled vehicle, reduction, equations of motion
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., On the Hadamard–Hamel problem and the dynamics of wheeled vehicles, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 1, pp. 145-163
Chaotic dynamics in the problem of the fall of a screw-shaped body in a fluid
Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 1, pp. 99-120
Abstract
pdf (4.44 Mb)
This paper is concerned with the process of the free fall of a three-bladed screw in a fluid. The investigation is performed within the framework of theories of an ideal fluid and a viscous fluid. For the case of an ideal fluid the stability of uniformly accelerated rotations (the Steklov solutions) is studied. A phenomenological model of viscous forces and torques is derived for investigation of the motion in a viscous fluid. A chart of Lyapunov exponents and bifucation diagrams are computed. It is shown that, depending on the system parameters, quasiperiodic and chaotic regimes of motion are possible. Transition to chaos occurs through cascade of period-doubling bifurcations.
Keywords:
ideal fluid, viscous fluid, motion of a rigid body, dynamical system, stability of motion, bifurcations, chart of Lyapunov exponents
Citation:
Tenenev V. A., Vetchanin E. V., Ilaletdinov L. F., Chaotic dynamics in the problem of the fall of a screw-shaped body in a fluid, Russian Journal of Nonlinear Dynamics, 2016, vol. 12, no. 1, pp. 99-120
On a mechanical lens
International Journal of Non-Linear Mechanics, 2016, vol. 79, pp. 115–121
Abstract
pdf (548.99 Kb)
In this paper, we consider the dynamics of a heavy homogeneous ball moving under the influence of dry friction on a fixed horizontal plane. We assume the ball to slide without rolling. We demonstrate that the plane may be divided into two regions, each characterized by a distinct coefficient of friction, so that balls with equal initial linear and angular velocity will converge upon the same point from different initial locations along a certain segment. We construct the boundary between the two regions explicitly and discuss possible applications to real physical systems.
Keywords:
Dry friction; Variable coefficient of friction; Dynamics of a ball; Bowling ball hook
Citation:
Ivanov A. P., Erdakova N. N., On a mechanical lens, International Journal of Non-Linear Mechanics, 2016, vol. 79, pp. 115–121
The Hojman Construction and Hamiltonization of Nonholonomic Systems
Symmetry, Integrability and Geometry: Methods and Applications, 2016, vol. 12, 012, 19 pp.
Abstract
pdf (571.09 Kb)
In this paper, using the Hojman construction, we give examples of various Poisson brackets which differ from those which are usually analyzed in Hamiltonian mechanics. They possess a nonmaximal rank, and in the general case an invariant measure and Casimir functions can be globally absent for them.
Bizyaev I. A., Borisov A. V., Mamaev I. S., The Hojman Construction and Hamiltonization of Nonholonomic Systems, Symmetry, Integrability and Geometry: Methods and Applications, 2016, vol. 12, 012, 19 pp.
Bifurcations and chaos in the dynamics of two point vortices in an acoustic wave
International Journal of Bifurcation and Chaos, 2016, vol. 26, no. 4, 1650063, 13 pp.
Abstract
pdf (1.38 Mb)
In this paper, we consider a system governing the motion of two point vortices in a flow excited by an external acoustic forcing. It is known that the system of two vortices is integrable in the absence of acoustic forcing. However, the addition of the acoustic forcing makes the system much more complex, and the system becomes nonintegrable and loses the phase volume preservation property. The objective of our research is to study chaotic dynamics and typical bifurcations. Numerical analysis has shown that the reversible pitchfork bifurcation is typical. Also, we show that the existence of strange attractors is not characteristic for the system under consideration.
Keywords:
reversible pitchfork, point vortices, acoustic forcing, chaos
Citation:
Vetchanin E. V., Kazakov A. O., Bifurcations and chaos in the dynamics of two point vortices in an acoustic wave, International Journal of Bifurcation and Chaos, 2016, vol. 26, no. 4, 1650063, 13 pp.
Rigid Body Dynamics in Non-Euclidean Spaces
Russian Journal of Mathematical Physics, 2016, vol. 23, no. 4, pp. 431-454
Abstract
pdf (704.17 Kb)
In this paper, we focus on the study of two-dimensional plate dynamics on the Lobachevskii plane $L^2$. First of all, we consider the free motion of such a plate, which is a pseudospherical analog of dynamics of the Euler top, and also present an analog of the Euler–Poisson equations enabling us to study the motion of the body in potential force fields having rotational symmetry. We present a series of integrable cases, having analogs in Euclidean space, for different fields. Moreover, in the paper, a partial qualitative analysis of the dynamics of free motion of a plate under arbitrary initial conditions is made and a number of computer illustrations are presented which show a substantial difference of the motion from the case of Euclidean space. The study undertaken in the present paper leads to interesting physical onsequences, which enable us to detect the influence of curvature on the body dynamics.
Citation:
Borisov A. V., Mamaev I. S., Rigid Body Dynamics in Non-Euclidean Spaces, Russian Journal of Mathematical Physics, 2016, vol. 23, no. 4, pp. 431-454
Dynamics of a body sliding on a rough plane and supported at three points
Theoretical and Applied Mechanics, 2016, vol. 43, no. 2, pp. 169-190
Abstract
pdf (1.81 Mb)
This paper is concerned with the problem of a rigid body (tripod)
moving with three points in contact with a horizontal plane under the action of
dry friction forces. It is shown that the regime of asymptotic motion (final dy-
namics) of the tripod can be pure rotation, pure sliding, or sliding and rotation
can cease simultaneously, which is determined by the position of the tripod’s
supports relative to the radius of inertia. In addition, the dependence of the
trajectory of the center of mass on the system parameters is investigated. A
comparison is made with the well-known theoretical and experimental studies
on the motion of bodies with a flat base
Borisov A. V., Mamaev I. S., Erdakova N. N., Dynamics of a body sliding on a rough plane and supported at three points, Theoretical and Applied Mechanics, 2016, vol. 43, no. 2, pp. 169-190
The phenomenon of reversal in the Euler–Poincaré–Suslov nonholonomic systems
Journal of Dynamical and Control Systems, 2016, vol. 22, no. 4, pp. 713–724
Abstract
The development of robotics makes it necessary to study the problem of controlling nonholonomic systems (Svinin et al., Regul Chaotic Dyn. 2013; 18(1–2): 126–143, Borisov et al., Regul. Chaotic Dyn. 2013; 18(1–2): 144–158, Ivanova et al., Regul Chaotic Dyn. 2014; 19(1): 140–143). In this paper, the dynamics of nonholonomic systems on Lie groups with a left-invariant kinetic energy and left-invariant constraints are considered. Equations of motion form a closed system of differential equations on the corresponding Lie algebra. In addition, the effect of change in the stability of steady motions of these systems with the direction of motion reversed (the reversal found in rattleback dynamics) is discussed. As an illustration, the rotation of a rigid body with a fixed point and the Suslov nonholonomic constraint as well as the motion of the Chaplygin sleigh is considered.
Kozlov V. V., The phenomenon of reversal in the Euler–Poincaré–Suslov nonholonomic systems, Journal of Dynamical and Control Systems, 2016, vol. 22, no. 4, pp. 713–724
Invariant and quasi-invariant measures on infinite-dimensional spaces
Doklady Mathematics, 2015, vol. 92, no. 3, pp. 743–746
Abstract
Extensions of locally convex topological spaces are considered such that finite cylindrical measures which are not countably additive on their initial domains turn out to be countably additive on the extensions. Extensions of certain transformations of the initial spaces with respect to which the initial measures are invariant or quasi-invariant to the extensions of these spaces are described. Similar questions are considered for differentiable measures. The constructions may find applications in statistical mechanics and quantum field theory.
Citation:
Kozlov V. V., Smolyanov O. G., Invariant and quasi-invariant measures on infinite-dimensional spaces, Doklady Mathematics, 2015, vol. 92, no. 3, pp. 743–746
A New Integrable System of Nonholonomic Mechanics
Doklady Physics, 2015, vol. 60, no. 6, pp. 269-271
Abstract
pdf (255.48 Kb)
A new integrable problem of nonholonomic mechanics is considered and its mechanical realization is proposed. This problem is a generalization of the well-known problem of А. P. Veselov and L. E. Veselova concerning the rolling motion of the Chaplygin ball in a straight line. Particular cases are found in which integration can be reduced to explicit quadratures.
Citation:
Borisov A. V., Mamaev I. S., A New Integrable System of Nonholonomic Mechanics, Doklady Physics, 2015, vol. 60, no. 6, pp. 269-271
Homogeneous systems with quadratic integrals, Lie–Poisson quasi-brackets, and the Kovalevskaya method
Sbornik: Mathematics, 2015, vol. 206, no. 12, pp. 29–54
Abstract
pdf (481.65 Kb)
We consider differential equations with quadratic right-hand sides which admit two quadratic first integrals, one of which is a positive definite quadratic form. We present general conditions under which a linear change of variables reduces this system to some "canonical" form. Under these conditions the system turns out to be nondivergent and is reduced to Hamiltonian form, however, the corresponding linear Lie–Poisson bracket does not always satisfy the Jacobi identity. In the three-dimensional case the equations are reduced to the classical equations of the Euler top, and in the four-dimensional space the system turns out to be superintegrable and coincides with the Euler–Poincaré equations on some Lie algebra. In the five-dimensional case we find a reducing multiplier after multiplication with which the Poisson bracket satisfies the Jacobi identity. In the general case, we prove that there is no reducing multiplier for $n>5$. As an example, we consider a system of Lotka–Volterra type with quadratic right-hand sides, which was studied already by Kovalevskaya from the viewpoint of the conditions for uniqueness of its solutions as functions of complex time.
Keywords:
first integrals, conformally Hamiltonian system, Poisson bracket, Kovalevskaya system, dynamical systems with quadratic right-hand sides
Citation:
Bizyaev I. A., Kozlov V. V., Homogeneous systems with quadratic integrals, Lie–Poisson quasi-brackets, and the Kovalevskaya method, Sbornik: Mathematics, 2015, vol. 206, no. 12, pp. 29–54
Notes on new friction models and nonholonomic mechanics
Physics-Uspekhi, 2015, vol. 58, no. 12, pp. 1220-1222
Abstract
pdf (262.98 Kb)
This is a reply to the comment by V.F. Zhuravlev (see Usp. Fiz. Nauk 185 1337 (2015) [Phys. Usp. 58 (12) (2015)]) on the inadequacy of the nonholonomic model when applied to the rolling of rigid bodies. The model of nonholonomic mechanics is discussed. Using recent results as examples, it is shown that the validity and potential of the nonholonomic model are not inferior to those of other dynamics and friction models.
Keywords:
nonholonomic model, dry friction, rattleback, rolling motion of a rigid body
Citation:
Borisov A. V., Mamaev I. S., Notes on new friction models and nonholonomic mechanics, Physics-Uspekhi, 2015, vol. 58, no. 12, pp. 1220-1222
Figures of equilibrium of an inhomogeneous self-gravitating fluid
Celestial Mechanics and Dynamical Astronomy, 2015, vol. 122, no. 1, pp. 1-26
Abstract
pdf (651.34 Kb)
This paper is concerned with the figures of equilibrium of a self-gravitating ideal fluid with a stratified density and a steady-state velocity field. As in the classical formulation of the problem, it is assumed that the figures, or their layers, uniformly rotate about an axis fixed in space. It is shown that the ellipsoid of revolution (spheroid) with confocal stratification, in which each layer rotates with a constant angular velocity, is at equilibrium. Expressions are obtained for the gravitational potential, change in the angular velocity and pressure, and the conclusion is drawn that the angular velocity on the outer surface is the same as that of the corresponding Maclaurin spheroid. We note that the solution found generalizes a previously known solution for piecewise constant density distribution. For comparison, we also present a solution, due to Chaplygin, for a homothetic density stratification. We conclude by considering a homogeneous spheroid in the space of constant positive curvature. We show that in this case the spheroid cannot rotate as a rigid body, since the angular velocity distribution of fluid particles depends on the distance to the symmetry axis.
Keywords:
Self-gravitating fluid, Confocal stratification, Homothetic stratification, Chaplygin problem, Axisymmetric equilibrium figures, Space of constant curvature
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., Figures of equilibrium of an inhomogeneous self-gravitating fluid, Celestial Mechanics and Dynamical Astronomy, 2015, vol. 122, no. 1, pp. 1-26
Topological monodromy as an obstruction to Hamiltonization of nonholonomic systems: Pro or contra?
Journal of Geometry and Physics, 2015, vol. 87, pp. 61-75
Abstract
pdf (754.64 Kb)
The phenomenon of a topological monodromy in integrable Hamiltonian and nonholonomic systems is discussed. An efficient method for computing and visualizing the monodromy is developed. The comparative analysis of the topological monodromy is given for the rolling ellipsoid of revolution problem in two cases, namely, on a smooth and on a rough plane. The first of these systems is Hamiltonian, the second is nonholonomic. We show that, from the viewpoint of monodromy, there is no difference between the two systems, and thus disprove the conjecture by Cushman and Duistermaat stating that the topological monodromy gives a topological obstruction for Hamiltonization of the rolling ellipsoid of revolution on a rough plane.
Bolsinov A. V., Kilin A. A., Kazakov A. O., Topological monodromy as an obstruction to Hamiltonization of nonholonomic systems: Pro or contra? , Journal of Geometry and Physics, 2015, vol. 87, pp. 61-75
On the loss of contact of the Euler disk
Nonlinear Dynamics, 2015, vol. 79, no. 4, pp. 2287-2294
Abstract
pdf (829.12 Kb)
This paper is an experimental investigation of a round uniform disk rolling on a horizontal surface. Two methods for experimentally determining the loss of contact of the rolling disk from the horizontal surface before its stop are proposed. Results of experiments for disks having different masses and manufactured from different materials are presented. Causes of “microlosses of contact” detected in the processes of motion are discussed.
Keywords:
Euler’s disk, Loss of contact, Experiment
Citation:
Borisov A. V., Mamaev I. S., Karavaev Y. L., On the loss of contact of the Euler disk, Nonlinear Dynamics, 2015, vol. 79, no. 4, pp. 2287-2294
Rational integrals of quasi-homogeneous dynamical systems
Journal of Applied Mathematics and Mechanics, 2015, vol. 79, no. 3, pp. 209–216
Abstract
Dynamical systems, described by quasi-homogeneous systems of differential equations with polynomial right-hand sides, are considered. The Euler–Poisson equations from solid-state dynamics, as well as the Euler–Poincaré equations in Lie algebras, which describe the dynamics of systems in Lie groups with a left-invariant kinetic energy, can be pointed out as examples. The conditions for the existence of rational first integrals of quasi-homogeneous systems are found. They include the conditions for the existence of invariant algebraic manifolds. Examples of systems with rational integrals which do not admit of first integrals that are polynomial with respect to the momenta are presented. Results of a general nature are also demonstrated in the example of a Hess–Appel’rot invariant manifold from the dynamics of an asymmetric heavy top.
Citation:
Kozlov V. V., Rational integrals of quasi-homogeneous dynamical systems, Journal of Applied Mathematics and Mechanics, 2015, vol. 79, no. 3, pp. 209–216
Generalized transport-logistic problem as class of dynamical systems
Mathematical Models and Computer Simulations, 2015, vol. 27, no. 12, pp. 65–87
Abstract
pdf (925.4 Kb)
Dynamical systems on network with discrete set of states and discrete time are considered. Sites, channels and particles are forming an abstract model of mass transport, information and so on, on the one hand, and another, they are forming dynamical system of deterministic or stochastic type. State of the system in the following discrete instant of time $S(T+1)$ is defined by transformation of the state at the moment $S(T)$ with given rules $L$, $S(T+1)=L(S(T))$. In this case, $S(T+1)$ does not necessarily belong to the admissible states set $A$. Then "judicial system" is activated, i.e. operator $P$ such that projects $S(T+1)$ to $A$. Thus, $S(T+1)=\{L(S(T))$, if $L(S(T))$ belongs $A$; $PL(S(T))$, if $L(S(T))$ does not belong $A\}$. Properties of these systems are researched, and applications for transport problems are discussed.
Bugaev A. S., Buslaev A. P., Kozlov V. V., Tatashev A. G., Yashina M. V., Generalized transport-logistic problem as class of dynamical systems, Mathematical Models and Computer Simulations, 2015, vol. 27, no. 12, pp. 65–87
Influence of rolling friction on the controlled motion of a robot wheel
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 583-592
Abstract
pdf (395.52 Kb)
This paper presents an experimental investigation of the influence of rolling friction on the dynamics of a robot wheel. The robot is set in motion by changing the proper gyrostatic momentum using the controlled rotation of a rotor installed in the robot. The problem is considered under the assumption that the center of mass of the system does not coincide with its geometric center. In this paper we derive equations describing the dynamics of the system and give an example of the controlled motion of a wheel by specifying a constant angular acceleration of the rotor. A description of the design of the robot wheel is given and a method for experimentally determining the rolling friction coefficient is proposed. For the verification of the proposed mathematical model, experimental studies of the controlled motion of the robot wheel are carried out. We show that the theoretical results qualitatively agree with the experimental ones, but are quantitatively different.
Keywords:
robot-wheel, rolling friction, displacement of the center of mass
Citation:
Pivovarova E. N., Klekovkin A. V., Influence of rolling friction on the controlled motion of a robot wheel, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 583-592
Experimental determination of the added masses by method of towing
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 568-582
Abstract
pdf (1.88 Mb)
This paper is concerned with the experimental determination of the added masses of bodies completely or partially immersed in a fluid. The paper presents an experimental setup, a technique of the experiment and an underlying mathematical model. The method of determining the added masses is based on the towing of the body with a given propelling force. It is known (from theory) that the concept of an added mass arises under the assumption concerning the potentiality of flow over the body. In this context, the authors have performed PIV visualization of flows generated by the towed body, and defined a part of the trajectory for which the flow can be considered as potential. For verification of the technique, a number of experiments have been performed to determine the added masses of a spheroid. The measurement results are in agreement with the known reference data. The added masses of a screwless freeboard robot have been defined using the developed technique.
Keywords:
added mass, movement on a free surface, hydrodynamic resistance, method of towing
Citation:
Klenov A. I., Vetchanin E. V., Kilin A. A., Experimental determination of the added masses by method of towing, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 568-582
Optical measurement of a fluid velocity field around a falling plate
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 554-567
Abstract
pdf (4.06 Mb)
The paper is devoted to the experimental verification of the Andersen–Pesavento–Wang model describing the falling of a heavy plate through a resisting medium. As a main research method the authors have used video filming of a falling plate with PIV measurement of the velocity of surrounding fluid flows. The trajectories of plates and streamlines were determined and oscillation frequencies were estimated using experimental results. A number of experiments for plates of various densities and sizes were performed. The trajectories of plates made of plastic are qualitatively similar to the trajectories predicted by the Andersen–Pesavento–Wang model. However, measured and computed frequencies of oscillations differ significantly. For a plate made of high carbon steel the results of experiments are quantitatively and qualitatively in disagreement with computational results.
Keywords:
PIV — Particle Image Velocimetry, Maxwell problem, model of Andersen–Pesavento–Wang
Citation:
Vetchanin E. V., Klenov A. I., Optical measurement of a fluid velocity field around a falling plate, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 554-567
A model of a screwless underwater robot
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553
Abstract
pdf (308.24 Kb)
The paper is devoted to the development of a model of an underwater robot actuated by inner rotors. This design has no moving elements interacting with an environment, which minimizes a negative impact on it, and increases noiselessness of the robot motion in a liquid. Despite numerous discussions on the possibility and efficiency of motion by means of internal masses' movement, a large number of works published in recent years confirms a relevance of the research. The paper presents an overview of works aimed at studying the motion by moving internal masses. A design of a screwless underwater robot that moves by the rotation of inner rotors to conduct theoretical and experimental investigations is proposed. In the context of theoretical research a robot model is considered as a hollow ellipsoid with three rotors located inside so that the axes of their rotation are mutually orthogonal. For the proposed model of a screwless underwater robot equations of motion in the form of classical Kirchhoff equations are obtained.
Keywords:
mobile robot, screwless underwater robot, movement in ideal fluid
Citation:
Vetchanin E. V., Karavaev Y. L., Kalinkin A. A., Klekovkin A. V., Pivovarova E. N., A model of a screwless underwater robot, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2015, vol. 25, no. 4, pp. 544-553
Qualitative Analysis of the Dynamics of a Wheeled Vehicle
Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 739-751
Abstract
pdf (445.93 Kb)
This paper is concerned with the problem of the motion of a wheeled vehicle on a plane in the case where one of the wheel pairs is fixed. In addition, the motion of a wheeled vehicle on a plane in the case of two free wheel pairs is considered. A method for obtaining equations of motion for the vehicle with an arbitrary geometry is presented. Possible kinds of motion of the vehicle with a fixed wheel pair are determined.
Keywords:
nonholonomic constraint, system dynamics, wheeled vehicle, Chaplygin system
Citation:
Borisov A. V., Mamaev I. S., Kilin A. A., Bizyaev I. A., Qualitative Analysis of the Dynamics of a Wheeled Vehicle, Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 739-751
On the Hadamard – Hamel Problem and the Dynamics of Wheeled Vehicles
Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 752-766
Abstract
pdf (265.93 Kb)
In this paper, we develop the results obtained by J.Hadamard and G.Hamel concerning the possibility of substituting nonholonomic constraints into the Lagrangian of the system without changing the form of the equations of motion. We formulate the conditions for correctness of such a substitution for a particular case of nonholonomic systems in the simplest and universal form. These conditions are presented in terms of both generalized velocities and quasi-velocities. We also discuss the derivation and reduction of the equations of motion of an arbitrary wheeled vehicle. In particular, we prove the equivalence (up to additional quadratures) of problems of an arbitrary wheeled vehicle and an analogous vehicle whose wheels have been replaced with skates. As examples, we consider the problems of a one-wheeled vehicle and a wheeled vehicle with two rotating wheel pairs.
Keywords:
nonholonomic constraint, wheeled vehicle, reduction, equations of motion
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., On the Hadamard – Hamel Problem and the Dynamics of Wheeled Vehicles, Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 752-766
Sequential Dynamics in the Motif of Excitatory Coupled Elements
Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 701-715
Abstract
pdf (769.83 Kb)
In this article a new model of motif (small ensemble) of neuron-like elements is proposed. It is built with the use of the generalized Lotka–Volterra model with excitatory couplings. The main motivation for this work comes from the problems of neuroscience where excitatory couplings are proved to be the predominant type of interaction between neurons of the brain. In this paper it is shown that there are two modes depending on the type of coupling between the elements: the mode with a stable heteroclinic cycle and the mode with a stable limit cycle. Our second goal is to examine the chaotic dynamics of the generalized three-dimensional Lotka–Volterra model.
Korotkov A. G., Kazakov A. O., Osipov G. V., Sequential Dynamics in the Motif of Excitatory Coupled Elements, Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 701-715
Spherical Robot of Combined Type: Dynamics and Control
Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 716-728
Abstract
pdf (306.92 Kb)
This paper is concerned with free and controlled motions of a spherical robot of combined type moving by displacing the center of mass and by changing the internal gyrostatic momentum. Equations of motion for the nonholonomic model are obtained and their first integrals are found. Fixed points of the reduced system are found in the absence of control actions. It is shown that they correspond to the motion of the spherical robot in a straight line and in a circle. A control algorithm for the motion of the spherical robot along an arbitrary trajectory is presented. A set of elementary maneuvers (gaits) is obtained which allow one to transfer the spherical robot from any initial point to any end point.
Kilin A. A., Pivovarova E. N., Ivanova T. B., Spherical Robot of Combined Type: Dynamics and Control, Regular and Chaotic Dynamics, 2015, vol. 20, no. 6, pp. 716-728
Dynamics of the Suslov Problem in a Gravitational Field: Reversal and Strange Attractors
Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 605-626
Abstract
pdf (640.12 Kb)
In this paper, we present some results on chaotic dynamics in the Suslov problem which describe the motion of a heavy rigid body with a fixed point, subject to a nonholonomic constraint, which is expressed by the condition that the projection of angular velocity onto the body-fixed axis is equal to zero. Depending on the system parameters, we find cases of regular (in particular, integrable) behavior and detect various attracting sets (including strange attractors) that are typical of dissipative systems. We construct a chart of regimes with regions characterizing chaotic and regular regimes depending on the degree of conservativeness. We examine in detail the effect of reversal, which was observed previously in the motion of rattlebacks.
Bizyaev I. A., Borisov A. V., Kazakov A. O., Dynamics of the Suslov Problem in a Gravitational Field: Reversal and Strange Attractors, Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 605-626
Symmetries and Reduction in Nonholonomic Mechanics
Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 553-604
Abstract
pdf (539.38 Kb)
This paper is a review of the problem of the constructive reduction of nonholonomic systems with symmetries. The connection of reduction with the presence of the simplest tensor invariants (first integrals and symmetry fields) is shown. All theoretical constructions are illustrated by examples encountered in applications. In addition, the paper contains a short historical and critical sketch covering the contribution of various researchers to this problem.
Experimental Investigation of the Motion of a Body with an Axisymmetric Base Sliding on a Rough Plane
Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 518-541
Abstract
pdf (516.92 Kb)
In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Keywords:
dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
Citation:
Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V., Experimental Investigation of the Motion of a Body with an Axisymmetric Base Sliding on a Rough Plane, Regular and Chaotic Dynamics, 2015, vol. 20, no. 5, pp. 518-541
The Dynamics of Systems with Servoconstraints. II
Regular and Chaotic Dynamics, 2015, vol. 20, no. 4, pp. 401-427
Abstract
pdf (861.95 Kb)
This paper addresses the dynamics of systems with servoconstraints where the constraints are realized by controlling the inertial properties of the system. Vakonomic systems are a particular case. Special attention is given to the motion on Lie groups with left-invariant kinetic energy and a left-invariant constraint. The presence of symmetries allows the dynamical equations to be reduced to a closed system of differential equations with quadratic right-hand sides. As the main example, we consider the rotation of a rigid body with a left-invariant servoconstraint, which implies that the projection of the body’s angular velocity on some body-fixed direction is zero.
Keywords:
servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides, vakonomic systems
Citation:
Kozlov V. V., The Dynamics of Systems with Servoconstraints. II, Regular and Chaotic Dynamics, 2015, vol. 20, no. 4, pp. 401-427
The Jacobi Integral in Nonholonomic Mechanics
Regular and Chaotic Dynamics, 2015, vol. 20, no. 3, pp. 383-400
Abstract
pdf (990.04 Kb)
In this paper we discuss conditions for the existence of the Jacobi integral (that generalizes energy) in systems with inhomogeneous and nonholonomic constraints. As an example, we consider in detail the problem of motion of the Chaplygin sleigh on a rotating plane and the motion of a dynamically symmetric ball on a uniformly rotating surface. In addition, we discuss illustrative mechanical models based on the motion of a homogeneous ball on a rotating table and on the Beltrami surface.
Keywords:
nonholonomic constraint, Jacobi integral, Chaplygin sleigh, rotating table, Suslov problem
Citation:
Borisov A. V., Mamaev I. S., Bizyaev I. A., The Jacobi Integral in Nonholonomic Mechanics, Regular and Chaotic Dynamics, 2015, vol. 20, no. 3, pp. 383-400
The Dynamics of Systems with Servoconstraints. I
Regular and Chaotic Dynamics, 2015, vol. 20, no. 3, pp. 205-224
Abstract
pdf (810.79 Kb)
The paper discusses the dynamics of systems with Béghin’s servoconstraints where the constraints are realized by means of controlled forces. Classical nonholonomic systems are an important particular case. Special attention is given to the study of motion on Lie groups with left-invariant kinetic energy and left-invariant constraints. The presence of symmetries allows one to reduce the dynamic equations to a closed system of differential equations with quadratic right-hand sides on a Lie algebra. Examples are given which include the rotation of a rigid body with a left-invariant servoconstraint — the projection of the angular velocity onto some direction fixed in the body is equal to zero (a generalization of the nonholonomic Suslov problem) — and the motion of the Chaplygin sleigh with servoconstraints of a certain type. The dynamics of systems with Béghin’s servoconstraints is richer and more varied than the more usual dynamics of nonholonomic systems.
Keywords:
servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides
Citation:
Kozlov V. V., The Dynamics of Systems with Servoconstraints. I, Regular and Chaotic Dynamics, 2015, vol. 20, no. 3, pp. 205-224
Dynamics and Control of an Omniwheel Vehicle
Regular and Chaotic Dynamics, 2015, vol. 20, no. 2, pp. 153-172
Abstract
pdf (1.11 Mb)
A nonholonomic model of the dynamics of an omniwheel vehicle on a plane and a sphere is considered. A derivation of equations is presented and the dynamics of a free system are investigated. An explicit motion control algorithm for the omniwheel vehicle moving along an arbitrary trajectory is obtained.
Borisov A. V., Kilin A. A., Mamaev I. S., Dynamics and Control of an Omniwheel Vehicle, Regular and Chaotic Dynamics, 2015, vol. 20, no. 2, pp. 153-172
The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform
Regular and Chaotic Dynamics, 2015, vol. 20, no. 2, pp. 134-152
Abstract
pdf (1.38 Mb)
This paper deals with the problem of a spherical robot propelled by an internal omniwheel platform and rolling without slipping on a plane. The problem of control of spherical robot motion along an arbitrary trajectory is solved within the framework of a kinematic model and a dynamic model. A number of particular cases of motion are identified, and their stability is investigated. An algorithm for constructing elementary maneuvers (gaits) providing the transition from one steady-state motion to another is presented for the dynamic model. A number of experiments have been carried out confirming the adequacy of the proposed kinematic model.
Karavaev Y. L., Kilin A. A., The Dynamics and Control of a Spherical Robot with an Internal Omniwheel Platform, Regular and Chaotic Dynamics, 2015, vol. 20, no. 2, pp. 134-152
Symmetries and Reduction in Nonholonomic Mechanics
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 763–823
Abstract
pdf (909.32 Kb)
This paper is a review of the problem of the constructive reduction of nonholonomic systems with symmetries. The connection of reduction with the presence of the simplest tensor invariants (first integrals and symmetry fields) is shown. All theoretical constructions are illustrated by examples encountered in applications. In addition, the paper contains a short historical and critical sketch covering the contribution of various researchers to this problem.
Borisov A. V., Mamaev I. S., Symmetries and Reduction in Nonholonomic Mechanics, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 763–823
Topology and Bifurcations in Nonholonomic Mechanics
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 735–762
Abstract
pdf (561.73 Kb)
This paper develops topological methods for qualitative analysis of the behavior of nonholonomic dynamical systems. Their application is illustrated by considering a new integrable system of nonholonomic mechanics, called a nonholonomic hinge. Although this system is nonholonomic, it can be represented in Hamiltonian form with a Lie –Poisson bracket of rank 2. This Lie – Poisson bracket is used to perform stability analysis of fixed points. In addition, all possible types of integral manifolds are found and a classification of trajectories on them is presented.
Bizyaev I. A., Bolsinov A. V., Borisov A. V., Mamaev I. S., Topology and Bifurcations in Nonholonomic Mechanics, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 735–762
Experimental research of dynamic of spherical robot of combined type
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 721–734
Abstract
pdf (761.73 Kb)
This paper presents the results of experimental investigations for the rolling of a spherical robot of combined type actuated by an internal wheeled vehicle with rotor on a horizontal plane. The control of spherical robot based on nonholonomic dynamical by means of gaits. We consider the motion of the spherical robot in case of constant control actions, as well as impulse control. A number of experiments have been carried out confirming the importance of rolling friction.
Keywords:
spherical robot of combined type, dynamic model, control by means of gaits, rolling friction
Citation:
Kilin A. A., Karavaev Y. L., Experimental research of dynamic of spherical robot of combined type, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 721–734
The contol of the motion through an ideal fluid of a rigid body by means of two moving masses
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 633–645
Abstract
pdf (413.58 Kb)
In this paper we consider the problem of motion of a rigid body in an ideal fluid with two material points moving along circular trajectories. The controllability of this system on the zero level set of first integrals is shown. Elementary “gaits” are presented which allow the realization of the body’s motion from one point to another. The existence of obstacles to a controlled motion of the body along an arbitrary trajectory is pointed out.
Keywords:
ideal fluid, Kirchhoff equations, controllability of gaits
Citation:
Kilin A. A., Vetchanin E. V., The contol of the motion through an ideal fluid of a rigid body by means of two moving masses, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 4, pp. 633–645
The dynamics of systems with servoconstraints. II
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 3, pp. 579-611
Abstract
pdf (560.42 Kb)
This paper addresses the dynamics of systems with servoconstraints where the constraints are realized by controlling the inertial properties of the system. Vakonomic systems are a particular case. Special attention is given to the motion on Lie groups with left-invariant kinetic energy and a left-invariant constraint. The presence of symmetries allows the dynamical equations to be reduced to a closed system of differential equations with quadratic right-hand sides. As the main example, we consider the rotation of a rigid body with a left-invariant servo-constraint, which implies that the projection of the body’s angular velocity on some body-fixed direction is zero.
Keywords:
servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides, vakonomic systems
Citation:
Kozlov V. V., The dynamics of systems with servoconstraints. II, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 3, pp. 579-611
On the dynamics of a body with an axisymmetric base sliding on a rough plane
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 3, pp. 547-577
Abstract
pdf (2.38 Mb)
In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Keywords:
dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
Citation:
Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V., On the dynamics of a body with an axisymmetric base sliding on a rough plane, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 3, pp. 547-577
The Jacobi Integral in NonholonomicMechanics
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 2, pp. 377-396
Abstract
pdf (1.9 Mb)
In this paper we discuss conditions for the existence of the Jacobi integral (that generalizes energy) in systems with inhomogeneous and nonholonomic constraints. As an example, we consider in detail the problem of motion of the Chaplygin sleigh on a rotating plane and the motion of a dynamically symmetric ball on a uniformly rotating surface. In addition, we discuss illustrative mechanical models based on the motion of a homogeneous ball on a rotating table and on the Beltrami surface.
Keywords:
nonholonomic constraint, Jacobi integral, Chaplygin sleigh, rotating table, Suslov problem
Citation:
Borisov A. V., Mamaev I. S., Bizyaev I. A., The Jacobi Integral in NonholonomicMechanics, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 2, pp. 377-396
The dynamics of systems with servoconstraints. I
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 2, pp. 353-376
Abstract
pdf (505.17 Kb)
The paper discusses the dynamics of systems with Béghin’s servoconstraints where the constraints are realized by means of controlled forces. Classical nonholonomic systems are an important particular case. Special attention is given to the study of motion on Lie groups with left-invariant kinetic energy and left-invariant constraints. The presence of symmetries allows one to reduce the dynamic equations to a closed system of differential equations with quadratic right-hand sides on a Lie algebra. Examples are given which include the rotation of a rigid body with a left-invariant servoconstraint — the projection of the angular velocity onto some direction fixed in the body is equal to zero (a generalization of the nonholonomic Suslov problem) — and the motion of the Chaplygin sleigh with servoconstraints of a certain type. The dynamics of systems with Béghin’s servoconstraints is richer and more varied than the more usual dynamics of nonholonomic systems.
Keywords:
servoconstraints, symmetries, Lie groups, left-invariant constraints, systems with quadratic right-hand sides
Citation:
Kozlov V. V., The dynamics of systems with servoconstraints. I, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 2, pp. 353-376
The dynamic of a spherical robot with an internal omniwheel platform
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 1, pp. 187-204
Abstract
pdf (530.7 Kb)
The dynamic model for a spherical robot with an internal omniwheel platform is presented. Equations of motion and first integrals according to the non-holonomic model are given. We consider particular solutions and their stability. The algorithm of control of spherical robot for movement along a given trajectory are presented.
Karavaev Y. L., Kilin A. A., The dynamic of a spherical robot with an internal omniwheel platform, Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 1, pp. 187-204
Principles of dynamics and servo-constraints
Russian Journal of Nonlinear Dynamics, 2015, vol. 11, no. 1, pp. 169-178
Abstract
pdf (316.31 Kb)
It is well known that in the Béghin– Appel theory servo-constraints are realized using controlled external forces. In this paper an expansion of the Béghin–Appel theory is given in the case where
servo-constraints are realized using controlled change of the inertial properties of a dynamical system. The analytical mechanics of dynamical systems with servo-constraints of general form is discussed. The key principle of the approach developed is to appropriately determine virtual displacements of systems with constraints.
Geometrisation of Chaplygin's reducing multiplier theorem
Nonlinearity, 2015, vol. 28, no. 7, pp. 2307–2318
Abstract
pdf (156.41 Kb)
We develop the reducing multiplier theory for a special class of nonholonomic
dynamical systems and show that the non-linear Poisson brackets naturally
obtained in the framework of this approach are all isomorphic to the Lie–Poisson $e$(3)-bracket. As two model examples, we consider the Chaplygin ball
problem on the plane and the Veselova system. In particular, we obtain an
integrable gyrostatic generalisation of the Veselova system.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Geometrisation of Chaplygin's reducing multiplier theorem, Nonlinearity, 2015, vol. 28, no. 7, pp. 2307–2318
Topology and Bifurcations in Nonholonomic Mechanics
International Journal of Bifurcation and Chaos, 2015, vol. 25, no. 10, 1530028, 21 pp.
Abstract
pdf (645.53 Kb)
This paper develops topological methods for qualitative analysis of the behavior of nonholonomic
dynamical systems. Their application is illustrated by considering a new integrable system of
nonholonomic mechanics, called a nonholonomic hinge. Although this system is nonholonomic,
it can be represented in Hamiltonian form with a Lie–Poisson bracket of rank two. This Lie–Poisson bracket is used to perform stability analysis of fixed points. In addition, all possible
types of integral manifolds are found and a classification of trajectories on them is presented.
Bizyaev I. A., Bolsinov A. V., Borisov A. V., Mamaev I. S., Topology and Bifurcations in Nonholonomic Mechanics, International Journal of Bifurcation and Chaos, 2015, vol. 25, no. 10, 1530028, 21 pp.
Hamiltonization of Elementary Nonholonomic Systems
Russian Journal of Mathematical Physics, 2015, vol. 22, no. 4, pp. 444-453
Abstract
pdf (115.49 Kb)
In this paper, we develop the method of Chaplygin’s reducing multiplier; using this method, we obtain a conformally Hamiltonian representation for three nonholonomic systems, namely, for the nonholonomic oscillator, for the Heisenberg system, and for the Chaplygin sleigh. Furthermore, in the case of oscillator and nonholonomic Chaplygin sleigh, we show that the problem reduces to the study of motion of a mass point (in a potential field) on a plane and, in the case of Heisenberg system, on the sphere. Moreover, we consider an example of a nonholonomic system (suggested by Blackall) to which one cannot apply the method of reducing multiplier.
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., Hamiltonization of Elementary Nonholonomic Systems, Russian Journal of Mathematical Physics, 2015, vol. 22, no. 4, pp. 444-453
Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator
arXiv:1511.02655v1, 2015, 14 pp.
Abstract
pdf (535.3 Kb)
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits — the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.
Citation:
Ivanova T. B., Pivovarova E. N., Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator, arXiv:1511.02655v1, 2015, 14 pp.
A dynamical communication system on a network
Journal of Computational and Applied Mathematics, 2015, vol. 275, pp. 247–261
Abstract
A dynamical system is introduced and investigated. The system contains N vertices. The vertices send messages at discrete time instants according to a given rule. A conflict of two vertices takes place if the vertices try to send messages to each other at the same instant. Each vertex sends a message to another vertex at every step if no conflict takes place. In case of a conflict, only one of the two competing vertices sends a message. Deterministic and stochastic conflict resolution rules are considered. We investigate the average number of messages sent by a vertex per a time unit, called the productivity of this vertex, the total productivity of the system and other characteristics. The productivity of vertices depends on the initial state of the system, and the criterion of efficiency is the expected average productivity of vertices provided all possible initial states of the system are equiprobable. An ergodic version of the system is also considered in which any particle moves with approximately equal to 1 probability provided there is no conflict.
Kozlov V. V., Buslaev A. P., Tatashev A. G., A dynamical communication system on a network, Journal of Computational and Applied Mathematics, 2015, vol. 275, pp. 247–261
Dynamical systems on honeycombs
Traffic and granular flow '13, Springer, 2015, pp. 441–452
Abstract
Stochastic and deterministic versions of a discrete dynamical system on a necklace network are investigated. This network contains several contours. There are three cells and a particle on each contour. The particle occupies one of the cells and, at each step, it makes an attempt to move to the next cell in the direction of movement. As well as on neighboring contours the particles move in accordance with rules of stochastic or deterministic type. We prove that the behavior of the model with a rule of the first type is stochastic only at the beginning, and after a time interval the behavior becomes purely deterministic. The system with a rule of the first type reaches a stationary mode which depends on the initial state. The average velocity of particles and other characteristics of the dynamical systems are studied.
Citation:
Kozlov V. V., Buslaev A. P., Tatashev A. G., Yashina M. V., Dynamical systems on honeycombs, Traffic and granular flow '13, Springer, 2015, pp. 441–452
Monotonic walks on a necklace and a coloured dynamic vector
International Journal of Computer Mathematics, 2015, vol. 92, no. 9, pp. 1910–1920
Abstract
Stochastic and deterministic versions of a discrete dynamical system on a necklace are investigated. This network consists of a sequence of contours NSWE with nodes, i.e. the nodes are common points at W and E. There are two cells and a particle on each contour. Each time instance, the particle occupies a cell and, at every time unit, comes to the next cell in the same direction. The particles of the neighbouring contours move in accordance with rules of stochastic or deterministic type. The behaviour of the model with the rule of the first type is stochastic only at the beginning and after a time interval becomes a pure deterministic system. The system with the second rule comes to a steady mode, which depends on the initial state. The average velocity of particles and characteristics of the system are studied.
Keywords:
dynamical system, networks, monotonic walks of particles, characteristics of dynamical systems, synergy, collapse
Citation:
Kozlov V. V., Buslaev A. P., Tatashev A. G., Monotonic walks on a necklace and a coloured dynamic vector, International Journal of Computer Mathematics, 2015, vol. 92, no. 9, pp. 1910–1920
On real-valued oscillations of a bipendulum
Applied Mathematics Letters, 2015, vol. 46, pp. 44–49
Abstract
Theoretical and computational aspects of special case of logistical-routing problem are considered. Fluctuation of two particles on a grid connected by a channel also is considered. Velocity rate and sufficient conditions of system self-regulation are obtained.
Keywords:
Transport–logistic problem; Dynamical system; Markov’s process
Citation:
Kozlov V. V., Buslaev A. P., Tatashev A. G., On real-valued oscillations of a bipendulum, Applied Mathematics Letters, 2015, vol. 46, pp. 44–49
Coarsening in ergodic theory
Russian Journal of Mathematical Physics, 2015, vol. 22, no. 2, pp. 184–187
Abstract
This paper deals with the coarsening operation in dynamical systems where the phase space with a finite invariant measure is partitioned into measurable pieces and the summable function transferred by the phase flow is averaged over these pieces at each instant of time. Letting the time tend to infinity and then refining the partition, we arrive at a modernization of the von Neumann ergodic theorem, which is useful for the purposes of nonequilibrium statistical mechanics. In particular, for fine-grained partitions, we obtain the law of increment of coarse entropy for systems approaching the state of statistical equilibrium.
In memory of A. M. Il’in
Citation:
Kozlov V. V., Coarsening in ergodic theory, Russian Journal of Mathematical Physics, 2015, vol. 22, no. 2, pp. 184–187
Nonintegrability and Obstructions to the Hamiltonianization of a Nonholonomic Chaplygin Top
Doklady Mathematics, 2014, vol. 90, no. 2, pp. 631–634
Abstract
pdf (203.47 Kb)
Citation:
Bizyaev I. A., Nonintegrability and Obstructions to the Hamiltonianization of a Nonholonomic Chaplygin Top, Doklady Mathematics, 2014, vol. 90, no. 2, pp. 631–634
Nonlinear dynamics of the rattleback: a nonholonomic model
Physics-Uspekhi, 2014, vol. 184, no. 5, pp. 453-460
Abstract
pdf (750.09 Kb)
For a solid body of convex form moving on a rough horizontal plane that is known as a rattleback, numerical simulations are used to discuss and illustrate dynamical phenomena that are characteristic of the motion due to a nonholonomic nature of the mechanical system; the relevant feature is the nonconservation of the phase volume in the course of the dynamics. In such a system, a local compression of the phase volume can produce behavior features similar to those exhibited by dissipative systems, such as stable equilibrium points corresponding to stationary rotations; limit cycles (rotations with oscillations); and strange attractors. A chart of dynamical regimes is plotted in a plane whose axes are the total mechanical energy and the relative angle between the geometric and dynamic principal axes of the body. The transition to chaos through a sequence of Feigenbaum period doubling bifurcations is demonstrated. A number of strange attractors are considered, for which phase portraits, Lyapunov exponents, and Fourier spectra are presented.
Citation:
Borisov A. V., Kazakov A. O., Kuznetsov S. P., Nonlinear dynamics of the rattleback: a nonholonomic model , Physics-Uspekhi, 2014, vol. 184, no. 5, pp. 453-460
On the Nonlinear Poisson Bracket Arising in Nonholonomic Mechanics
Mathematical Notes, 2014, vol. 95, no. 3, pp. 308-315
Abstract
pdf (509.63 Kb)
Nonholonomic systems describing the rolling of a rigid body on a plane and their relationship with various Poisson structures are considered. The notion of generalized conformally Hamiltonian representation of dynamical systems is introduced. In contrast to linear Poisson structures defined by Lie algebras and used in rigid-body dynamics, the Poisson structures of nonholonomic systems turn out to be nonlinear. They are also degenerate and the Casimir functions for them can be expressed in terms of complicated transcendental functions or not appear at all.
Keywords:
Poisson bracket, nonholonomic system, Poisson structure, dynamical system, con- formally Hamiltonian representation, Casimir function, Routh sphere, rolling of a Chaplygin ball
Citation:
Borisov A. V., Mamaev I. S., Tsiganov A. V., On the Nonlinear Poisson Bracket Arising in Nonholonomic Mechanics , Mathematical Notes, 2014, vol. 95, no. 3, pp. 308-315
Liouville's equation as a Schrödinger equation
Izvestiya: Mathematics, 2014, vol. 78, no. 4, pp. 744–757
Abstract
We show that every non-negative solution of Liouville's equation for an
arbitrary (possibly non-Hamiltonian) dynamical system admits a factorization
$\psi\psi^*$, where $\psi$ satisfies a Schrödinger equation of special
form. The corresponding quantum system is obtained by Weyl quantization
of a Hamiltonian system whose Hamiltonian is linear in the momenta.
We discuss the structure of the spectrum of the special Schrödinger
equation on a multidimensional torus and show that the eigenfunctions may
have finite smoothness in the analytic case. Our generalized solutions
of the Schrödinger equation are natural examples of non-selfadjoint
extensions of Hermitian differential operators. We give conditions for
the existence of a smooth invariant measure of a dynamical system. They
are expressed in terms of stability conditions for the conjugate
equations of variations.
The dynamics of systems with large gyroscopic forces and the realization of constraints
Journal of Applied Mathematics and Mechanics, 2014, vol. 78, no. 3, pp. 213–219
Abstract
Lagrangian systems with a large multiplier N on the gyroscopic terms are considered. Simplified equations of motion of general form with holonomic constraints are obtained in the first approximation with respect to the small parameter ɛ = 1/N. The structure of the solutions of the precessional equations is examined.
Citation:
Kozlov V. V., The dynamics of systems with large gyroscopic forces and the realization of constraints, Journal of Applied Mathematics and Mechanics, 2014, vol. 78, no. 3, pp. 213–219
Non-holonomic dynamics and Poisson geometry
Russian Mathematical Surveys, 2014, vol. 69, no. 3, pp. 481-538
Abstract
pdf (917.58 Kb)
This is a survey of basic facts presently known about non-linear Poisson structures in the analysis of integrable systems in non-holonomic mechanics. It is shown that by using the theory of Poisson deformations it is possible to reduce various non-holonomic systems to dynamical systems on well-understood phase spaces equipped with linear Lie-Poisson brackets. As a result, not only can different non-holonomic systems be compared, but also fairly advanced methods of Poisson geometry and topology can be used for investigating them.
Keywords:
non-holonomic systems, Poisson bracket, Chaplygin ball, Suslov system, Veselova system
Citation:
Borisov A. V., Mamaev I. S., Tsiganov A. V., Non-holonomic dynamics and Poisson geometry , Russian Mathematical Surveys, 2014, vol. 69, no. 3, pp. 481-538
International mathematical conferences and schools for young researchers in Suzdal
Russian Mathematical Surveys, 2014, vol. 69, no. 1, pp. 183–185
Abstract
Citation:
Davydov A. A., Kozlov V. V., Chernousko F. L., International mathematical conferences and schools for young researchers in Suzdal, Russian Mathematical Surveys, 2014, vol. 69, no. 1, pp. 183–185
On the dynamics of point vortices in an annular region
Fluid Dynamics Research, 2014, vol. 46, no. 3, 031420, 7 pp.
Abstract
pdf (205.4 Kb)
This paper reviews the results of stability analysis for polygonal configurations of a point vortex system in an annular region depending on the ratio of the inner and outer radii of the annulus. Conditions are found for linear stability of Thomsonʼs configurations for the case $N<7$. The paper also shows that a system of two vortices between parallel walls is a limiting case of a two-vortex system in an annular region, as the radii of the annulus tend to infinity.
Citation:
Erdakova N. N., Mamaev I. S., On the dynamics of point vortices in an annular region , Fluid Dynamics Research, 2014, vol. 46, no. 3, 031420, 7 pp.
The Reversal and Chaotic Attractor in the Nonholonomic Model of Chaplygin’s Top
Regular and Chaotic Dynamics, 2014, vol. 19, no. 6, pp. 718-733
Abstract
pdf (1.29 Mb)
In this paper we consider the motion of a dynamically asymmetric unbalanced ball on a plane in a gravitational field. The point of contact of the ball with the plane is subject to a nonholonomic constraint which forbids slipping. The motion of the ball is governed by the nonholonomic reversible system of 6 differential equations. In the case of arbitrary displacement of the center of mass of the ball the system under consideration is a nonintegrable system without an invariant measure. Using qualitative and quantitative analysis we show that the unbalanced ball exhibits reversal (the phenomenon of reversal of the direction of rotation) for some parameter values. Moreover, by constructing charts of Lyaponov exponents we find a few types of strange attractors in the system, including the so-called figure-eight attractor which belongs to the genuine strange attractors of pseudohyperbolic type.
Keywords:
rolling without slipping, reversibility, involution, integrability, reversal, chart of Lyapunov exponents, strange attractor
Citation:
Borisov A. V., Kazakov A. O., Sataev I. R., The Reversal and Chaotic Attractor in the Nonholonomic Model of Chaplygin’s Top, Regular and Chaotic Dynamics, 2014, vol. 19, no. 6, pp. 718-733
The Dynamics of Three Vortex Sources
Regular and Chaotic Dynamics, 2014, vol. 19, no. 6, pp. 694-701
Abstract
pdf (244.27 Kb)
In this paper, the integrability of the equations of a system of three vortex sources is shown. A reduced system describing, up to similarity, the evolution of the system’s configurations is obtained. Possible phase portraits and various relative equilibria of the system are presented.
The Dynamics of a Body with an Axisymmetric Base Sliding on a Rough Plane
Regular and Chaotic Dynamics, 2014, vol. 19, no. 6, pp. 607-634
Abstract
pdf (965.59 Kb)
In this paper we investigate the dynamics of a body with a flat base sliding on a horizontal and inclined rough plane under the assumption of linear pressure distribution of the body on the plane as the simplest dynamically consistent friction model. For analysis we use the descriptive function method similar to the methods used in the problems of Hamiltonian dynamics with one degree of freedom and allowing a qualitative analysis of the system to be made without explicit integration of equations of motion. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Keywords:
dry friction, linear pressure distribution, planar motion, Coulomb law
Citation:
Borisov A. V., Erdakova N. N., Ivanova T. B., Mamaev I. S., The Dynamics of a Body with an Axisymmetric Base Sliding on a Rough Plane, Regular and Chaotic Dynamics, 2014, vol. 19, no. 6, pp. 607-634
On Rational Integrals of Geodesic Flows
Regular and Chaotic Dynamics, 2014, vol. 19, no. 6, pp. 601-606
Abstract
pdf (145.78 Kb)
This paper is concerned with the problem of first integrals of the equations of geodesics on two-dimensional surfaces that are rational in the velocities (or momenta). The existence of nontrivial rational integrals with given values of the degrees of the numerator and the denominator is proved using the Cauchy–Kovalevskaya theorem.
Superintegrable Generalizations of the Kepler and Hook Problems
Regular and Chaotic Dynamics, 2014, vol. 19, no. 3, pp. 415-434
Abstract
pdf (300.95 Kb)
In this paper we consider superintegrable systems which are an immediate generalization of the Kepler and Hook problems, both in two-dimensional spaces — the plane $\mathbb{R}^2$ and the sphere $S^2$ — and in three-dimensional spaces $\mathbb{R}^3$ and $S^3$. Using the central projection and the reduction procedure proposed in [21], we show an interrelation between the superintegrable systems found previously and show new ones. In all cases the superintegrals are presented in explicit form.
Keywords:
superintegrable systems, Kepler and Hook problems, isomorphism, central projection, reduction, highest degree polynomial superintegrals
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., Superintegrable Generalizations of the Kepler and Hook Problems, Regular and Chaotic Dynamics, 2014, vol. 19, no. 3, pp. 415-434
The Dynamics of Nonholonomic Systems Consisting of a Spherical Shell with a Moving Rigid Body Inside
Regular and Chaotic Dynamics, 2014, vol. 19, no. 2, pp. 198-213
Abstract
pdf (241.48 Kb)
In this paper we investigate two systems consisting of a spherical shell rolling without slipping on a plane and a moving rigid body fixed inside the shell by means of two different mechanisms. In the former case the rigid body is attached to the center of the ball on a spherical hinge. We show an isomorphism between the equations of motion for the inner body with those for the ball moving on a smooth plane. In the latter case the rigid body is fixed by means of a nonholonomic hinge. Equations of motion for this system have been obtained and new integrable cases found. A special feature of the set of tensor invariants of this system is that it leads to the Euler–Jacobi–Lie theorem, which is a new integration mechanism in nonholonomic mechanics. We also consider the problem of free motion of a bundle of two bodies connected by means of a nonholonomic hinge. For this system, integrable cases and various tensor invariants are found.
Keywords:
nonholonomic constraint, tensor invariants, isomorphism, nonholonomic hinge
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., The Dynamics of Nonholonomic Systems Consisting of a Spherical Shell with a Moving Rigid Body Inside, Regular and Chaotic Dynamics, 2014, vol. 19, no. 2, pp. 198-213
Remarks on Integrable Systems
Regular and Chaotic Dynamics, 2014, vol. 19, no. 2, pp. 145-161
Abstract
pdf (186.79 Kb)
The problem of integrability conditions for systems of differential equations is discussed. Darboux’s classical results on the integrability of linear non-autonomous systems with an incomplete set of particular solutions are generalized. Special attention is paid to linear Hamiltonian systems. The paper discusses the general problem of integrability of the systems of autonomous differential equations in an n-dimensional space, which admit the algebra of symmetry fields of dimension $\geqslant n$. Using a method due to Liouville, this problem is reduced to investigating the integrability conditions for Hamiltonian systems with Hamiltonians linear in the momenta in phase space of dimension that is twice as large. In conclusion, the integrability of an autonomous system in three-dimensional space with two independent non-trivial symmetry fields is proved. It should be emphasized that no additional conditions are imposed on these fields.
Comments on the Paper by A.V. Borisov, A.A. Kilin, I.S. Mamaev "How to Control the Chaplygin Ball Using Rotors. II"
Regular and Chaotic Dynamics, 2014, vol. 19, no. 1, pp. 140-143
Abstract
pdf (170.77 Kb)
In this paper we consider the control of a dynamically asymmetric balanced ball on a plane in the case of slipping at the contact point. Necessary conditions under which a control is possible are obtained. Specific algorithms of control along a given trajectory are constructed.
Ivanova T. B., Pivovarova E. N., Comments on the Paper by A.V. Borisov, A.A. Kilin, I.S. Mamaev "How to Control the Chaplygin Ball Using Rotors. II", Regular and Chaotic Dynamics, 2014, vol. 19, no. 1, pp. 140-143
The Dynamics of a Rigid Body with a Sharp Edge in Contact with an Inclined Surface in the Presence of Dry Friction
Regular and Chaotic Dynamics, 2014, vol. 19, no. 1, pp. 116-139
Abstract
pdf (735.75 Kb)
In this paper we consider the dynamics of a rigid body with a sharp edge in contact with a rough plane. The body can move so that its contact point is fixed or slips or loses contact with the support. In this paper, the dynamics of the system is considered within three mechanical models which describe different regimes of motion. The boundaries of the domain of definition of each model are given, the possibility of transitions from one regime to another and their consistency with different coefficients of friction on the horizontal and inclined surfaces are discussed.
Keywords:
rod, Painlevé paradox, dry friction, loss of contact, frictional impact
Citation:
Mamaev I. S., Ivanova T. B., The Dynamics of a Rigid Body with a Sharp Edge in Contact with an Inclined Surface in the Presence of Dry Friction, Regular and Chaotic Dynamics, 2014, vol. 19, no. 1, pp. 116-139
Paul Painlevé and His Contribution to Science
Regular and Chaotic Dynamics, 2014, vol. 19, no. 1, pp. 1-19
Abstract
pdf (1.89 Mb)
The life and career of the great French mathematician and politician Paul Painlevé is described. His contribution to the analytical theory of nonlinear differential equations was significant. The paper outlines the achievements of Paul Painlevé and his students in the investigation of an interesting class of nonlinear second-order equations and new equations defining a completely new class of special functions, now called the Painlevé transcendents. The contribution of Paul Painlevé to the study of algebraic nonintegrability of the $N$-body problem, his remarkable observations in mechanics, in particular, paradoxes arising in the dynamics of systems with friction, his attempt to create the axiomatics of mechanics and his contribution to gravitation theory are discussed.
The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 497-511
Abstract
pdf (986.08 Kb)
The kinematic control model for a spherical robot with an internal omniwheel platform is presented. We consider singularities of control of spherical robot with an unbalanced internal omniwheel platform. The general algorithm of control of spherical robot according to the kinematical quasi-static model and controls for simple trajectories (a straight line and in a circle) are presented. Experimental investigations have been carried out for all introduced control algorithms.
Keywords:
spherical robot, kinematic model, nonholonomic constraint, omniwheel, displacement of center of mass
Citation:
Kilin A. A., Karavaev Y. L., The kinematic control model for a spherical robot with an unbalanced internal omniwheel platform, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 497-511
On the dynamics of a body with an axisymmetric base sliding on a rough plane
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 483-495
Abstract
pdf (667.35 Kb)
In this paper we investigate the dynamics of a body with a flat base sliding on a inclined plane under the assumption of linear pressure distribution of the body on the plane as the simplest dynamically consistent friction model. Computer-aided analysis of the system’s dynamics on the inclined plane using phase portraits has allowed us to reveal dynamical effects that have not been found earlier.
Keywords:
dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
Citation:
Borisov A. V., Erdakova N. N., Ivanova T. B., Mamaev I. S., On the dynamics of a body with an axisymmetric base sliding on a rough plane, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 483-495
Control of a Vehicle with Omniwheels on a Plane
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 473-481
Abstract
pdf (520.34 Kb)
The problem of motion of a vehicle in the form of a platform with an arbitrary number of Mecanum wheels fastened on it is considered. The controllability of this vehicle is discussed within the framework of the nonholonomic rolling model. An explicit algorithm is presented for calculating the control torques of the motors required to follow an arbitrary trajectory. Examples of controls for executing the simplest maneuvers are given.
On Rational Integrals of Geodesic Flows
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 4, pp. 439-445
Abstract
pdf (302.05 Kb)
This paper is concerned with the problem of first integrals of the equations of geodesics on twodimensional surfaces that are rational in the velocities (or momenta). The existence of nontrivial rational integrals with given values of the degrees of the numerator and the denominator is proved using the Cauchy–Kovalevskaya theorem.
Regular and Chaotic Attractors in the Nonholonomic Model of Chapygin's ball
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 361-380
Abstract
pdf (1.3 Mb)
We study both analytically and numerically the dynamics of an inhomogeneous ball on a rough horizontal plane under the infuence of gravity. A nonholonomic constraint of zero velocity at the point of contact of the ball with the plane is imposed. In the case of an arbitrary displacement of the center of mass of the ball, the system is nonintegrable without the property of phase volume conservation. We show that at certain parameter values the unbalanced ball exhibits the effect of reversal (the direction of the ball rotation reverses). Charts of dynamical regimes on the parameter plane are presented. The system under consideration exhibits diverse chaotic dynamics, in particular, the figure-eight chaotic attractor, which is a special type of pseudohyperbolic chaos.
Keywords:
Chaplygin’s top, rolling without slipping, reversibility, involution, integrability, reverse, chart of dynamical regimes, strange attractor
Citation:
Borisov A. V., Kazakov A. O., Sataev I. R., Regular and Chaotic Attractors in the Nonholonomic Model of Chapygin's ball, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 361-380
Invariant Measure and Hamiltonization of Nonholonomic Systems
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 355-359
Abstract
pdf (283.75 Kb)
This paper discusses new unresolved problems of nonholonomic mechanics. Hypotheses of the possibility of Hamiltonization and the existence of an invariant measure for such systems are advanced.
Borisov A. V., Mamaev I. S., Invariant Measure and Hamiltonization of Nonholonomic Systems, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 355-359
Bifurcations and chaos in the problem of the motion of two point vortices in an acoustic wave
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 329-343
Abstract
pdf (5.62 Mb)
This paper is concerned with the dynamics of two point vortices of the same intensity which are affected by an acoustic wave. Typical bifurcations of fixed points have been identified by constructing charts of dynamical regimes, and bifurcation diagrams have been plotted.
Keywords:
point vortices, nonintegrability, bifurcations, chart of dynamical regimes
Citation:
Vetchanin E. V., Kazakov A. O., Bifurcations and chaos in the problem of the motion of two point vortices in an acoustic wave, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 329-343
The dynamics of three vortex sources
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 319-327
Abstract
pdf (413.32 Kb)
In this paper, the integrability of the equations of a system of three vortex sources is shown. A reduced system describing, up to similarity, the evolution of the system’s configurations is obtained. Possible phase portraits and various relative equilibria of the system are presented.
Bizyaev I. A., Borisov A. V., Mamaev I. S., The dynamics of three vortex sources, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 3, pp. 319-327
On a generalization of systems of Calogero type
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 2, pp. 209-212
Abstract
pdf (237.84 Kb)
This paper is concerned with a three-body system on a straight line in a potential field proposed by Tsiganov. The Liouville integrability of this system is shown. Reduction and separation of variables are performed.
Keywords:
Calogero systems, reduction, integrable systems, Jacobi problem
Citation:
Bizyaev I. A., On a generalization of systems of Calogero type, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 2, pp. 209-212
Comment on the paper by A.V. Borisov, A.A. Kilin, I.S. Mamaev “How to control the Chaplygin ball using rotors. II”
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 127-131
Abstract
pdf (234.11 Kb)
In this paper we consider the control of a dynamically asymmetric balanced ball on a plane in the case of slipping at the contact point. Necessary conditions under which a control is possible are obtained. Specific algorithms of control along a given trajectory are constructed.
Ivanova T. B., Pivovarova E. N., Comment on the paper by A.V. Borisov, A.A. Kilin, I.S. Mamaev “How to control the Chaplygin ball using rotors. II”, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 127-131
Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 113-126
Abstract
pdf (3.43 Mb)
In this article a kinematic model of the spherical robot is considered, which is set in motion by the internal platform with omni-wheels. It has been introduced a description of construction, algorithm of trajectory planning according to developed kinematic model, it has been realized experimental research for typical trajectories: moving along a straight line and moving along a circle.
Kilin A. A., Karavaev Y. L., Klekovkin A. V., Kinematic control of a high manoeuvrable mobile spherical robot with internal omni-wheeled platform, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 113-126
Figures of equilibrium of an inhomogeneous self-gravitating fluid
Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 73-100
Abstract
pdf (492.78 Kb)
This paper is concerned with the figures of equilibrium of a self-gravitating ideal fluid with density stratification and a steady-state velocity field. As in the classical setting, it is assumed that the figure or its layers uniformly rotate about an axis fixed in space. As is well known, when there is no rotation, only a ball can be a figure of equilibrium.
It is shown that the ellipsoid of revolution (spheroid) with confocal stratification, in which each layer rotates with inherent constant angular velocity, is at equilibrium. Expressions are obtained for the gravitational potential, change in the angular velocity and pressure, and the conclusion is drawn that the angular velocity on the outer surface is the same as that of the Maclaurin spheroid. We note that the solution found generalizes a previously known solution for piecewise constant density distribution. For comparison, we also present a solution, due to Chaplygin, for a homothetic density stratification.
We conclude by considering a homogeneous spheroid in the space of constant positive curvature. We show that in this case the spheroid cannot rotate as a rigid body, since the angular velocity distribution of fluid particles depends on the distance to the symmetry axis.
Keywords:
self-gravitating fluid, confocal stratification, homothetic stratification, space of constant curvature
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., Figures of equilibrium of an inhomogeneous self-gravitating fluid, Russian Journal of Nonlinear Dynamics, 2014, vol. 10, no. 1, pp. 73-100
Determination of moments of inertia and the position of the center of mass of robotic devices
Bulletin of Udmurt University. Physics and Chemistry, 2014, no. 4, pp. 79-86
Abstract
pdf (311.48 Kb)
In this paper we describe an inertiameter, which is an experimental facility for determining the inertia tensor components and the position of the center of mass of compound bodies. An algorithm for determining these dynamical properties is presented. Using the algorithm obtained, the displacement of the center of mass and the tensor of inertia are determined experimentally for a spherical robot of combined type.
Keywords:
inertiameter, spherical robot, moment of inertia, center of mass
Citation:
Alalykin S. S., Bogatyrev A. V., Ivanova T. B., Pivovarova E. N., Determination of moments of inertia and the position of the center of mass of robotic devices, Bulletin of Udmurt University. Physics and Chemistry, 2014, no. 4, pp. 79-86
The dynamics of vortex rings: leapfrogging in an ideal and viscous fluid
Fluid Dynamics Research, 2014, vol. 46, no. 3, 031415, 16 pp.
Abstract
pdf (746.69 Kb)
We consider the problem of motion of axisymmetric vortex rings in an ideal incompressible and viscous fluid. Using the numerical simulation of the Navier–Stokes equations, we confirm the existence of leapfrogging of three equal vortex rings and suggest the possibility of detecting it experimentally. We also confirm the existence of leapfrogging of two vortex rings with opposite-signed vorticities in a viscous fluid.
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Tenenev V. A., The dynamics of vortex rings: leapfrogging in an ideal and viscous fluid , Fluid Dynamics Research, 2014, vol. 46, no. 3, 031415, 16 pp.
Conservation laws of generalized billiards that are polynomial in momenta
Russian Journal of Mathematical Physics, 2014, vol. 21, no. 2, pp. 226–241
Abstract
This paper deals with dynamics particles moving on a Euclidean n-dimensional torus or in an n-dimensional parallelepiped box in a force field whose potential is proportional to the characteristic function of the region D with a regular boundary. After reaching this region, the trajectory of the particle is refracted according to the law which resembles the Snell -Descartes law from geometrical optics. When the energies are small, the particle does not reach the region D and elastically bounces off its boundary. In this case, we obtain a dynamical system of billiard type (which was intensely studied with respect to strictly convex regions). In addition, the paper discusses the problem of the existence of nontrivial first integrals that are polynomials in momenta with summable coefficients and are functionally independent with the energy integral. Conditions for the geometry of the boundary of the region D under which the problem does not admit nontrivial polynomial first integrals are found. Examples of nonconvex regions are given; for these regions the corresponding dynamical system is obviously nonergodic for fixed energy values (including small ones), however, it does not admit polynomial conservation laws independent of the energy integral.
Citation:
Kozlov V. V., Conservation laws of generalized billiards that are polynomial in momenta, Russian Journal of Mathematical Physics, 2014, vol. 21, no. 2, pp. 226–241
Behavior of pendulums on a regular polygon
Journal of Communication and Computer, 2014, vol. 11, no. 1, pp. 30–38
Abstract
pdf (294.98 Kb)
Stochastic and deterministic versions of a discrete dynamical network system are investigated. This network consists of a sequence of contours NSWE with nodes, which are common points at N, W, S and E. There are four cells and a particle on each contour. At each time instance, the particle occupies a cell, and attempts to occupy the next cell in the same direction. Particles of neighboring contours move in accordance with some rules. Both deterministic and stochastic rules are considered. The behavior of the model with the first rule is stochastic only at the beginning, and after a time interval the system becomes to pure deterministic. The system with the second rule comes to a steady state, which depends on the initial state. The average velocity of particles and other characteristics of the system are studied.
Keywords:
Dynamical system, networks, monotonic walks of particles, characteristics of a dynamical system, synergy
Citation:
Kozlov V. V., Buslaev A. P., Tatashev A. G., Behavior of pendulums on a regular polygon, Journal of Communication and Computer, 2014, vol. 11, no. 1, pp. 30–38
On a system of nonlinear differential equations for the model of totally connected traffic
Journal of Concrete and Applicable Mathematics, 2014, vol. 12, no. 1-2, pp. 86–93
Abstract
pdf (580.72 Kb)
In the paper the qualitative properties solutions of the system nonlinear equations, describing one-way movement of particles chain on a line with follower velocity defined by some function of distance from the leader, are researched. In the case when the given function is the velocity of the first particle (leader) in the chain, the model is called a model of leader. If the given function is the velocity of the last particle (outsider), the model is called a model of “shepherd”.
The sufficient conditions for the existence of the chain with the given constraints on the velocity and acceleration are obtained.
Keywords:
systems of nonlinear ordinary differential equations; follow-theleader model; interpretation for traffic
Citation:
Buslaev A. P., Kozlov V. V., On a system of nonlinear differential equations for the model of totally connected traffic, Journal of Concrete and Applicable Mathematics, 2014, vol. 12, no. 1-2, pp. 86–93
The classical Bohl argument theorem of a conditionally periodic function is generalized. Conditionally periodic motions on a torus are replaced by the solutions of a nonlinear system of differential equations with invariant measure. Cases in which this system is assumed ergodic or strictly ergodic are considered.
Keywords:
Bohl's argument theorem; conditionally periodic motion on the n-dimensional torus; (strictly) ergodic system of differential equations; uniformly distributed function; Birkhoff-Khinchine ergodic theorem
Citation:
Kozlov V. V., On Bohl's Argument Theorem, Mathematical Notes, 2013, vol. 93, no. 1, pp. 83–89
The behaviour of cyclic variables in integrable systems
Journal of Applied Mathematics and Mechanics, 2013, vol. 77, no. 2, pp. 128–136
Abstract
pdf (246.21 Kb)
A general theorem on the behaviour of the angular variables of integrable dynamical systems as functions of time is established. Problems on the motion of the nodal line of a Kovalevskaya top and of a three-dimensional rigid body in a fluid are considered in integrable cases as examples. This range of topics is discussed for systems of a more general form obtained from completely integrable systems after changing the time.
Citation:
Kozlov V. V., The behaviour of cyclic variables in integrable systems, Journal of Applied Mathematics and Mechanics, 2013, vol. 77, no. 2, pp. 128–136
On the Routh sphere problem
Journal of Physics A: Mathematical and Theoretical, 2013, vol. 46, no. 8, 085202, 11 pp.
Abstract
pdf (169.11 Kb)
We discuss an embedding of a vector field for the nonholonomic Routh sphere into a subgroup of commuting Hamiltonian vector fields on six-dimensional phase space. The corresponding Poisson brackets are reduced to the canonical Poisson brackets on the Lie algebra $e^*$(3). It allows us to relate the nonholonomic Routh system with the Hamiltonian system on a cotangent bundle to the sphere with a canonical Poisson structure.
Citation:
Bizyaev I. A., Tsiganov A. V., On the Routh sphere problem , Journal of Physics A: Mathematical and Theoretical, 2013, vol. 46, no. 8, 085202, 11 pp.
Traffic modeling: monotonic total-connected random walk on a network
Mathematical Models and Computer Simulations, 2013, vol. 25, no. 8, pp. 3–21
Abstract
pdf (449.44 Kb)
Monotonic (particles move in the same direction) and total-connected (particles that occupy neighboring cells move synchronized) random ($p<1$) and deterministic ($p=1$) walks on closed networks, which consist of circles, are considered. An algorithm has been developed that allows to calculate the duration of the time interval after that all the particles will be contained in the unique cluster. It is proved that such the interval is finite in the considered model. Some statements are proved that allow to found the velocity of movement if deterministic movement occurs on the follows structures: two rings (two closed sequences of cells) that have a common cell; a closed sequence of rings each of that has two common cells with two the neighboring rings; a two-dimensional network structure in that each cell has common cells with four the neighboring rings; a similar infinite network.
Keywords:
stochastic models; random walk; traffic flows
Citation:
Bugaev A. S., Buslaev A. P., Kozlov V. V., Tatashev A. G., Yashina M. V., Traffic modeling: monotonic total-connected random walk on a network , Mathematical Models and Computer Simulations, 2013, vol. 25, no. 8, pp. 3–21
The Problem of Drift and Recurrence for the Rolling Chaplygin Ball
Regular and Chaotic Dynamics, 2013, vol. 18, no. 6, pp. 832-859
Abstract
pdf (702.93 Kb)
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.
Borisov A. V., Kilin A. A., Mamaev I. S., The Problem of Drift and Recurrence for the Rolling Chaplygin Ball, Regular and Chaotic Dynamics, 2013, vol. 18, no. 6, pp. 832-859
Richness of Chaotic Dynamics in Nonholonomic Models of a Celtic Stone
Regular and Chaotic Dynamics, 2013, vol. 18, no. 5, pp. 521-538
Abstract
pdf (3.11 Mb)
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.
Gonchenko A. S., Gonchenko S. V., Kazakov A. O., Richness of Chaotic Dynamics in Nonholonomic Models of a Celtic Stone, Regular and Chaotic Dynamics, 2013, vol. 18, no. 5, pp. 521-538
Strange Attractors and Mixed Dynamics in the Problem of an Unbalanced Rubber Ball Rolling on a Plane
Regular and Chaotic Dynamics, 2013, vol. 18, no. 5, pp. 508-520
Abstract
pdf (1.65 Mb)
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 Poincaré map 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.
Kazakov A. O., Strange Attractors and Mixed Dynamics in the Problem of an Unbalanced Rubber Ball Rolling on a Plane, Regular and Chaotic Dynamics, 2013, vol. 18, no. 5, pp. 508-520
The Dynamics of the Chaplygin Ball with a Fluid-filled Cavity
Regular and Chaotic Dynamics, 2013, vol. 18, no. 5, pp. 490-496
Abstract
pdf (405.38 Kb)
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.
Borisov A. V., Mamaev I. S., The Dynamics of the Chaplygin Ball with a Fluid-filled Cavity, Regular and Chaotic Dynamics, 2013, vol. 18, no. 5, pp. 490-496
Topological Analysis of an Integrable System Related to the Rolling of a Ball on a Sphere
Regular and Chaotic Dynamics, 2013, vol. 18, no. 4, pp. 356-371
Abstract
pdf (488.37 Kb)
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.
Borisov A. V., Mamaev I. S., Topological Analysis of an Integrable System Related to the Rolling of a Ball on a Sphere, Regular and Chaotic Dynamics, 2013, vol. 18, no. 4, pp. 356-371
The Euler–Jacobi–Lie Integrability Theorem
Regular and Chaotic Dynamics, 2013, vol. 18, no. 4, pp. 329-343
Abstract
pdf (377.18 Kb)
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.
Keywords:
symmetry field, integral invariant, nilpotent group, magnetic hydrodynamics
Citation:
Kozlov V. V., The Euler–Jacobi–Lie Integrability Theorem, Regular and Chaotic Dynamics, 2013, vol. 18, no. 4, pp. 329-343
The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere
Regular and Chaotic Dynamics, 2013, vol. 18, no. 3, pp. 277-328
Abstract
pdf (2.69 Mb)
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.
Borisov A. V., Mamaev I. S., Bizyaev I. A., The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere, Regular and Chaotic Dynamics, 2013, vol. 18, no. 3, pp. 277-328
How to Control the Chaplygin Ball Using Rotors. II
Regular and Chaotic Dynamics, 2013, vol. 18, no. 1-2, pp. 144-158
Abstract
pdf (1.73 Mb)
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.
Borisov A. V., Kilin A. A., Mamaev I. S., How to Control the Chaplygin Ball Using Rotors. II, Regular and Chaotic Dynamics, 2013, vol. 18, no. 1-2, pp. 144-158
The Self-propulsion of a Body with Moving Internal Masses in a Viscous Fluid
Regular and Chaotic Dynamics, 2013, vol. 18, no. 1-2, pp. 100-117
Abstract
pdf (1.71 Mb)
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.
Keywords:
finite-volume numerical method, Navier–Stokes equations, variable internal mass distribution, motion control
Citation:
Vetchanin E. V., Mamaev I. S., Tenenev V. A., The Self-propulsion of a Body with Moving Internal Masses in a Viscous Fluid, Regular and Chaotic Dynamics, 2013, vol. 18, no. 1-2, pp. 100-117
The Dynamics of Vortex Rings: Leapfrogging, Choreographies and the Stability Problem
Regular and Chaotic Dynamics, 2013, vol. 18, no. 1-2, pp. 33-62
Abstract
pdf (857.35 Kb)
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.
Borisov A. V., Kilin A. A., Mamaev I. S., The Dynamics of Vortex Rings: Leapfrogging, Choreographies and the Stability Problem, Regular and Chaotic Dynamics, 2013, vol. 18, no. 1-2, pp. 33-62
The problem of drift and recurrence for the rolling Chaplygin ball
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 4, pp. 721-754
Abstract
pdf (875.6 Kb)
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 a 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.
Borisov A. V., Kilin A. A., Mamaev I. S., The problem of drift and recurrence for the rolling Chaplygin ball, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 4, pp. 721-754
Geometrization of the Chaplygin reducing-multiplier theorem
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 4, pp. 627-640
Abstract
pdf (373.67 Kb)
This paper develops the theory of the reducing multiplier for a special class of nonholonomic dynamical systems, when the resulting nonlinear Poisson structure is reduced to the Lie–Poisson bracket of the algebra $e(3)$. As an illustration, the Chaplygin ball rolling problem and the Veselova system are considered. In addition, an integrable gyrostatic generalization of the Veselova system is obtained.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Geometrization of the Chaplygin reducing-multiplier theorem, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 4, pp. 627-640
The dynamics of rigid body whose sharp edge is in contact with a inclined surface with dry friction
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 567-594
Abstract
pdf (886.59 Kb)
In this paper we consider the dynamics of rigid body whose sharp edge is in contact with a rough plane. The body can move so that its contact point does not move or slips or loses touch with the support. In this paper, the dynamics of the system is considered within three mechanical models that describe different modes of motion. The boundaries of definition range of each model are given, the possibility of transitions from one mode to another and their consistency with different coefficients of friction on the horizontal and inclined surfaces is discussed.
Mamaev I. S., Ivanova T. B., The dynamics of rigid body whose sharp edge is in contact with a inclined surface with dry friction, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 567-594
The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 547-566
Abstract
pdf (441.83 Kb)
In this paper we investigate two systems consisting of a spherical shell rolling on a plane without slipping and a moving rigid body fixed inside the shell by means of two different mechanisms. In the former case the rigid body is fixed at the center of the ball on a spherical hinge. We show an isomorphism between the equations of motion for the inner body with those for the ball moving on a smooth plane. In the latter case the rigid body is fixed by means of the nonholonomic hinge. The equations of motion for this system have been obtained and new integrable cases found. A special feature of the set of tensor invariants of this system is that it leads to the Euler–Jacobi–Lie theorem, which is a new integration mechanism in nonholonomic mechanics.
Keywords:
nonholonomic constraint, tensor invariants, isomorphism, nonholonomic hinge
Citation:
Bizyaev I. A., Borisov A. V., Mamaev I. S., The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 547-566
On the dynamics of a body with an axisymmetric base sliding on a rough plane
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 521-545
Abstract
pdf (612.94 Kb)
In this paper we investigate the dynamics of a body with a flat base sliding on a horizontal plane under the assumption of linear pressure distribution of the body on the plane as the simplest dynamically consistent friction model.
For analysis we use the descriptive function method similar to the methods used in the problems of Hamiltonian dynamics with one degree of freedom and allowing a qualitative analysis of the system to be made without explicit integration of equations of motion. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
Keywords:
dry friction, linear pressure distribution, two-dimensional motion, planar motion, Coulomb law
Citation:
Erdakova N. N., Mamaev I. S., On the dynamics of a body with an axisymmetric base sliding on a rough plane, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 521-545
Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 507-520
Abstract
pdf (582.48 Kb)
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits — the simplest motions such as acceleration and deceleration during the motion in a straight line, rotation through a given angle and their combination. Also, the controlled motion of the system along a straight line with a constant acceleration is considered. For this problem the algorithm for calculating the control torques is given and it is shown that the resulting reduced system has the first integral of motion.
Keywords:
non-holonomic constraint, control, spherical shell, integral of motion
Citation:
Ivanova T. B., Pivovarova E. N., Dynamics and Control of a Spherical Robot with an Axisymmetric Pendulum Actuator, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 507-520
On the loss of contact of the Euler disk
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 499-506
Abstract
pdf (362.06 Kb)
The paper presents experimental investigation of a homogeneous circular disk rolling on a horizontal plane. In this paper two methods of experimental determination of the loss of contact between the rolling disk and the horizontal surface before the abrupt halt are proposed. Experimental results for disks of different masses and different materials are presented. The reasons for “micro losses” of contact with surface revealed during the rolling are discussed.
Keywords:
Euler disk, loss of contact, experiment
Citation:
Borisov A. V., Mamaev I. S., Karavaev Y. L., On the loss of contact of the Euler disk, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 499-506
Notes on integrable systems
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 459-478
Abstract
pdf (375.2 Kb)
The problem of integrability conditions for systems of differential equations is discussed. Darboux’s classical results on the integrability of linear non-autonomous systems with an incomplete set of particular solutions are generalized. Special attention is paid to linear Hamiltonian systems. The paper discusses the general problem of integrability of the systems of autonomous differential equations in an $n$-dimensional space which permit the algebra of symmetry fields of dimension $\geqslant n$. Using a method due to Liouville, this problem is reduced to investigating the integrability conditions for Hamiltonian systems with Hamiltonians linear in the momentums in phase space of dimension that is twice as large. In conclusion, the integrability of an autonomous system in three-dimensional space with two independent non-trivial symmetry fields is proved. It should be emphasized that no additional conditions are imposed on these fields.
Keywords:
integrability by quadratures, adjoint system, Hamilton equations, Euler–Jacobi theorem, Lie theorem, symmetries
Citation:
Kozlov V. V., Notes on integrable systems, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 3, pp. 459-478
Chaotic dynamics phenomena in the rubber rock-n-roller on a plane problem
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 309-325
Abstract
pdf (5.28 Mb)
In this paper we study a problem of rolling of the dynamically asymmetric ball with displacement center of gravity on a plane without slipping and vertical rotating. It is shown that the dynamics of the ball is significantly affected by the type of reversibility. Depending on the type of the reversibility we found two different types of dynamical chaos: strange attractors and mixed chaotic dynamics. In this paper we describe a strange attractor development, and then its basic properties. A set of criteria by which in numerical experiments mixed dynamics may be distinguished from other types of dynamical chaos are given.
Kazakov A. O., Chaotic dynamics phenomena in the rubber rock-n-roller on a plane problem, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 309-325
Integrability and stochastic behavior in some nonholonomic dynamics problems
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 257-265
Abstract
pdf (2.27 Mb)
In this paper, we investigate the dynamics of systems describing the rolling without slipping and spinning (rubber rolling) of an ellipsoid on a plane and a sphere. We research these problems using Poincare maps, which investigation helps to discover a new integrable case.
Keywords:
nonholonomic constraint, invariant measure, first integral, Poincare map, integrability and chaos
Citation:
Bizyaev I. A., Kazakov A. O., Integrability and stochastic behavior in some nonholonomic dynamics problems, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 257-265
The Euler–Jacobi–Lie integrability theorem
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 229-245
Abstract
pdf (377.18 Kb)
This paper addresses a class of problems associated with the conditions for exact integrability of a system 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 continuous medium with infinite conductivity.
Keywords:
symmetry field, integral invariant, nilpotent group, magnetic hydrodynamics
Citation:
Kozlov V. V., The Euler–Jacobi–Lie integrability theorem, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 229-245
Topological monodromy in nonholonomic systems
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 203-227
Abstract
pdf (890.26 Kb)
The phenomenon of a topological monodromy in integrable Hamiltonian and nonholonomic systems is discussed. An efficient method for computing and visualizing the monodromy is developed. The comparative analysis of the topological monodromy is given for the rolling ellipsoid of revolution problem in two cases, namely, on a smooth and on a rough plane. The first of these systems is Hamiltonian, the second is nonholonomic. We show that, from the viewpoint of monodromy, there is no difference between the two systems, and thus disprove the conjecture by Cushman and Duistermaat stating that the topological monodromy gives a topological obstruction for Hamiltonization of the rolling ellipsoid of revolution on a rough plane.
Bolsinov A. V., Kilin A. A., Kazakov A. O., Topological monodromy in nonholonomic systems, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 203-227
The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 141-202
Abstract
pdf (7.91 Mb)
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.
Borisov A. V., Mamaev I. S., Bizyaev I. A., The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 2, pp. 141-202
Deviation based discrete control algorithm for omni-wheeled mobile robot
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 1, pp. 91-100
Abstract
pdf (434.7 Kb)
The paper deals with deviation based control algorithm for trajectory following of omni-wheeled mobile robot. The kinematic model and the dynamics of the robot actuators are described.
Keywords:
omni-wheeled mobile robot, discrete algorithm, deviation based control, linearization, feedback
Citation:
Karavaev Y. L., Trefilov S. A., Deviation based discrete control algorithm for omni-wheeled mobile robot, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 1, pp. 91-100
How to control the Chaplygin ball using rotors. II
Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 1, pp. 59-76
Abstract
pdf (2.71 Mb)
In our earlier paper [2] 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.
Borisov A. V., Kilin A. A., Mamaev I. S., How to control the Chaplygin ball using rotors. II, Russian Journal of Nonlinear Dynamics, 2013, vol. 9, no. 1, pp. 59-76
Motion control of a rigid body in viscous fluid
Computer Research and Modeling, 2013, vol. 5, no. 4, pp. 659-675
Abstract
pdf (359.11 Kb)
We consider the optimal motion control problem for a mobile device with an external rigid shell moving along a prescribed trajectory in a viscous fluid. The mobile robot under consideration possesses the property of self-locomotion. Self-locomotion is implemented due to back-and-forth motion of an internal material point. The optimal motion control is based on the Sugeno fuzzy inference system. An approach based on constructing decision trees using the genetic algorithm for structural and parametric synthesis has been proposed to obtain the base of fuzzy rules.
Vetchanin E. V., Tenenev V. A., Shaura A. S., Motion control of a rigid body in viscous fluid, Computer Research and Modeling, 2013, vol. 5, no. 4, pp. 659-675
On the mathematical simulation of the impact of a double pendulum against an obstacle
Proceedings of MITP, 2013, vol. 5, no. 2, pp. 134-141
Abstract
pdf (572.94 Kb)
An algorithm for the investigation of a mathematical model of the impact of a double pendulum against an obstacle is constructed and realized by computer. This algorithm allows calculation of impact loads and coefficients of restitution at the contact point and hinges. The main goal of this investigation is to minimize negative impact conditions in the hingings.
Keywords:
double pendulum, equations of motion, mathematical model, numerical investigation
Citation:
Erdakova N. N., Ivanov A. P., On the mathematical simulation of the impact of a double pendulum against an obstacle, Proceedings of MITP, 2013, vol. 5, no. 2, pp. 134-141
Rolling of a Rigid Body Without Slipping and Spinning: Kinematics and Dynamics
Journal of Applied Nonlinear Dynamics, 2013, vol. 2, no. 2, pp. 161-173
Abstract
pdf (269.77 Kb)
In this paper we investigate various kinematic properties of rolling of one rigid body on another both for the classical model of rolling without slipping (the velocities of bodies at the point of contact coincide) and for the model of rubber-rolling (with the additional condition that the spinning of the bodies relative to each other be excluded). Furthermore, in the case where both bodies are bounded by spherical surfaces and one of them is fixed, the equations of motion for a moving ball are represented in the form of the Chaplygin system. When the center of mass of the moving ball coincides with its geometric center, the equations of motion are represented in conformally Hamiltonian form, and in the case where the radii of the moving and fixed spheres coincides, they are written in Hamiltonian form.
Keywords:
Rolling without slipping, Nonholonomic constraint, Chaplygin system, Conformally Hamiltonian system
Citation:
Borisov A. V., Mamaev I. S., Treschev D. V., Rolling of a Rigid Body Without Slipping and Spinning: Kinematics and Dynamics, Journal of Applied Nonlinear Dynamics, 2013, vol. 2, no. 2, pp. 161-173
Polynomial in momenta invariants of Hamilton's equations, divergent series and generalized functions
Nonlinearity, 2013, vol. 26, no. 3, pp. 745–756
Abstract
We consider the problem of the motion of two identical interacting particles on a circle in a potential force field. We study conditions for the existence of an additional first integral in the form of a polynomial of degree 4 in momenta with periodic coefficients. These conditions are reduced to the solvability of a certain nonlinear functional-differential equation for the potential of the external force and the interaction potential. If the potentials are smooth, this equation has only trivial solutions: at least one of the potentials is a constant function. We classify generalized solutions of this equation when the interaction potential is a distribution while the external potential is a smooth function. Formal Fourier series for the interaction potential can be summed up by the (C, 2)-Cesaro method to periodic functions with singularities.
Citation:
Kozlov V. V., Polynomial in momenta invariants of Hamilton's equations, divergent series and generalized functions, Nonlinearity, 2013, vol. 26, no. 3, pp. 745–756
Asymptotic solutions of strongly nonlinear systems of differential equations
Translated from the 2009 Russian second edition [first edition: MR1457796] by Lester J. Senechal. Springer Monographs in Mathematics. Springer, Heidelberg, 2013, xx+262 pp.
Abstract
pdf (165.98 Kb)
Citation:
Kozlov V. V., Furta S. D., Asymptotic solutions of strongly nonlinear systems of differential equations, Translated from the 2009 Russian second edition [first edition: MR1457796] by Lester J. Senechal. Springer Monographs in Mathematics. Springer, Heidelberg, 2013, xx+262 pp.
Remarks on polynomial integrals of higher degrees for reversible systems with toral configuration space
Izvestiya: Mathematics, 2012, vol. 76, no. 5, pp. 907–921
Abstract
pdf (519.88 Kb)
We consider problems related to the well-known conjecture on the degrees of irreducible polynomial integrals of a reversible Hamiltonian system with two degrees of freedom and toral position space. The main object of study is a special system arising in the analysis of irreducible polynomial integrals of degree 4. In a particular case we have the problem of the motion of two interacting particles on a circle in given potential fields. We prove that if the three potentials are smooth non-constant functions, then this problem has no non-trivial polynomial integrals of arbitrarily high degree. We prove the conjecture completely for systems with a polynomial first integral of degree 4 in the momenta.
Keywords:
irreducible integrals, systems with impacts, spectrum of a potential
Citation:
Denisova N. V., Kozlov V. V., Treschev D. V., Remarks on polynomial integrals of higher degrees for reversible systems with toral configuration space, Izvestiya: Mathematics, 2012, vol. 76, no. 5, pp. 907–921
Invariant manifolds of Hamilton's equations
Journal of Applied Mathematics and Mechanics, 2012, vol. 76, no. 4, pp. 378–387
Abstract
pdf (254.88 Kb)
The invariance conditions of smooth manifolds of Hamilton's equations are represented in the form of multidimensional Lamb's equations from the dynamics of an ideal fluid. In the stationary case these conditions do not depend on the method used to parameterize the invariant manifold. One consequence of Lamb's equations is an equation of a vortex, which is invariant to replacements of the time-dependent variables. A proof of the periodicity conditions of solutions of autonomous Hamilton's equations with n degrees of freedom and compact energy manifolds that admit of 2n – 3 additional first integrals is given as an application of the theory developed.
Citation:
Kozlov V. V., Invariant manifolds of Hamilton's equations, Journal of Applied Mathematics and Mechanics, 2012, vol. 76, no. 4, pp. 378–387
The statistical mechanics of a class of dissipative systems
Journal of Applied Mathematics and Mechanics, 2012, vol. 76, no. 1, pp. 15–24
Abstract
The statistical mechanics of dynamical systems on which only isotropic viscous friction forces act is developed. A non-stationary analogue of the Gibbs canonical distribution, which enables each such system to be made to correspond to a certain thermodynamic system that satisfies the first and second laws of thermodynamics, is introduced. The evolution of non-Gibbs probability distributions with time is also considered.
Citation:
Kozlov V. V., The statistical mechanics of a class of dissipative systems, Journal of Applied Mathematics and Mechanics, 2012, vol. 76, no. 1, pp. 15–24
An Extended Hamilton–Jacobi Method
Regular and Chaotic Dynamics, 2012, vol. 17, no. 6, pp. 580-596
Abstract
pdf (216.54 Kb)
We develop a new method for solving Hamilton’s canonical differential equations. The method is based on the search for invariant vortex manifolds of special type. In the case of Lagrangian (potential) manifolds, we arrive at the classical Hamilton–Jacobi method.
Rolling of a Ball without Spinning on a Plane: the Absence of an Invariant Measure in a System with a Complete Set of Integrals
Regular and Chaotic Dynamics, 2012, vol. 17, no. 6, pp. 571-579
Abstract
pdf (402.12 Kb)
In the paper we consider a system of a ball that rolls without slipping on a plane. The ball is assumed to be inhomogeneous and its center of mass does not necessarily coincide with its geometric center. We have proved that the governing equations can be recast into a system of six ODEs that admits four integrals of motion. Thus, the phase space of the system is foliated by invariant 2-tori; moreover, this foliation is equivalent to the Liouville foliation encountered in the case of Euler of the rigid body dynamics. However, the system cannot be solved in terms of quadratures because there is no invariant measure which we proved by finding limit cycles.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Rolling of a Ball without Spinning on a Plane: the Absence of an Invariant Measure in a System with a Complete Set of Integrals, Regular and Chaotic Dynamics, 2012, vol. 17, no. 6, pp. 571-579
Dynamical Phenomena Occurring due to Phase Volume Compression in Nonholonomic Model of the Rattleback
Regular and Chaotic Dynamics, 2012, vol. 17, no. 6, pp. 512-532
Abstract
pdf (4.23 Mb)
We study numerically the dynamics of the rattleback, a rigid body with a convex surface on a rough horizontal plane, in dependence on the parameters, applying methods used earlier for treatment of dissipative dynamical systems, and adapted here for the nonholonomic model. Charts of dynamical regimes on the parameter plane of the total mechanical energy and the angle between the geometric and dynamic principal axes of the rigid body are presented. Characteristic structures in the parameter space, previously observed only for dissipative systems, are revealed. A method for calculating the full spectrum of Lyapunov exponents is developed and implemented. Analysis of the Lyapunov exponents of the nonholonomic model reveals two classes of chaotic regimes. For the model reduced to a 3D map, the first one corresponds to a strange attractor with one positive and two negative Lyapunov exponents, and the second to the chaotic dynamics of quasi-conservative type, when positive and negative Lyapunov exponents are close in magnitude, and the remaining exponent is close to zero. The transition to chaos through a sequence of period-doubling bifurcations relating to the Feigenbaum universality class is illustrated. Several examples of strange attractors are considered in detail. In particular, phase portraits as well as the Lyapunov exponents, the Fourier spectra, and fractal dimensions are presented.
Borisov A. V., Jalnine A. Y., Kuznetsov S. P., Sataev I. R., Sedova Y. V., Dynamical Phenomena Occurring due to Phase Volume Compression in Nonholonomic Model of the Rattleback, Regular and Chaotic Dynamics, 2012, vol. 17, no. 6, pp. 512-532
The Bifurcation Analysis and the Conley Index in Mechanics
Regular and Chaotic Dynamics, 2012, vol. 17, no. 5, pp. 457-478
Abstract
pdf (614.32 Kb)
The paper is devoted to the bifurcation analysis and the Conley index in Hamiltonian dynamical systems. We discuss the phenomenon of appearance (disappearance) of equilibrium points under the change of the Morse index of a critical point of a Hamiltonian. As an application of these techniques we find new relative equilibria in the problem of the motion of three point vortices of equal intensity in a circular domain.
Bolsinov A. V., Borisov A. V., Mamaev I. S., The Bifurcation Analysis and the Conley Index in Mechanics, Regular and Chaotic Dynamics, 2012, vol. 17, no. 5, pp. 457-478
How to Control Chaplygin’s Sphere Using Rotors
Regular and Chaotic Dynamics, 2012, vol. 17, no. 3-4, pp. 258-272
Abstract
pdf (242.89 Kb)
In the paper we study the control of a balanced dynamically non-symmetric sphere with rotors. The no-slip condition at the point of contact is assumed. The algebraic controllability is shown and the control inputs that steer the ball along a given trajectory on the plane are found. For some simple trajectories explicit tracking algorithms are proposed.
Borisov A. V., Kilin A. A., Mamaev I. S., How to Control Chaplygin’s Sphere Using Rotors, Regular and Chaotic Dynamics, 2012, vol. 17, no. 3-4, pp. 258-272
Two Non-holonomic Integrable Problems Tracing Back to Chaplygin
Regular and Chaotic Dynamics, 2012, vol. 17, no. 2, pp. 191-198
Abstract
pdf (150.32 Kb)
The paper considers two new integrable systems which go back to Chaplygin. The systems consist of a spherical shell that rolls on a plane; within the shell there is a ball or Lagrange’s gyroscope. All necessary first integrals and an invariant measure are found. The solutions are shown to be expressed in terms of quadratures.
Borisov A. V., Mamaev I. S., Two Non-holonomic Integrable Problems Tracing Back to Chaplygin, Regular and Chaotic Dynamics, 2012, vol. 17, no. 2, pp. 191-198
Generalized Chaplygin’s Transformation and Explicit Integration of a System with a Spherical Support
Regular and Chaotic Dynamics, 2012, vol. 17, no. 2, pp. 170-190
Abstract
pdf (484.82 Kb)
We discuss explicit integration and bifurcation analysis of two non-holonomic problems. One of them is the Chaplygin’s problem on no-slip rolling of a balanced dynamically non-symmetric ball on a horizontal plane. The other, first posed by Yu.N.Fedorov, deals with the motion of a rigid body in a spherical support. For Chaplygin’s problem we consider in detail the transformation that Chaplygin used to integrate the equations when the constant of areas is zero. We revisit Chaplygin’s approach to clarify the geometry of this very important transformation, because in the original paper the transformation looks a cumbersome collection of highly non-transparent analytic manipulations. Understanding its geometry seriously facilitate the extension of the transformation to the case of a rigid body in a spherical support – the problem where almost no progress has been made since Yu.N. Fedorov posed it in 1988. In this paper we show that extending the transformation to the case of a spherical support allows us to integrate the equations of motion explicitly in terms of quadratures, detect mostly remarkable critical trajectories and study their stability, and perform an exhaustive qualitative analysis of motion. Some of the results may find their application in various technical devices and robot design. We also show that adding a gyrostat with constant angular momentum to the spherical-support system does not affect its integrability.
Borisov A. V., Kilin A. A., Mamaev I. S., Generalized Chaplygin’s Transformation and Explicit Integration of a System with a Spherical Support, Regular and Chaotic Dynamics, 2012, vol. 17, no. 2, pp. 170-190
On Invariant Manifolds of Nonholonomic Systems
Regular and Chaotic Dynamics, 2012, vol. 17, no. 2, pp. 131-141
Abstract
pdf (239.09 Kb)
Invariant manifolds of equations governing the dynamics of conservative nonholonomic systems are investigated. These manifolds are assumed to be uniquely projected onto configuration space. The invariance conditions are represented in the form of generalized Lamb’s equations. Conditions are found under which the solutions to these equations admit a hydrodynamical description typical of Hamiltonian systems. As an illustration, nonholonomic systems on Lie groups with a left-invariant metric and left-invariant (right-invariant) constraints are considered.
Topological analysis of one integrable system related to the rolling of a ball over a sphere
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 5, pp. 957-975
Abstract
pdf (796.84 Kb)
A new integrable system describing the rolling of a rigid body with a spherical cavity over a spherical base is considered. Previously the authors found the separation of variables for this system at the zero level 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.
Borisov A. V., Mamaev I. S., Topological analysis of one integrable system related to the rolling of a ball over a sphere, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 5, pp. 957-975
The motion of a body with variable mass geometry in a viscous fluid
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 4, pp. 815-836
Abstract
pdf (15.9 Mb)
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. A non-stationary three-dimensional solution to the problem is found. The motion of a sphere and a drop-shaped body in a viscous fluid, which is caused by the motion of internal material points, in a gravitational field is explored. The possibility of motion of a body in an arbitrary given direction is shown.
Keywords:
finite-volume numerical method, Navier-Stokes equations, variable internal mass distribution, motion control
Citation:
Vetchanin E. V., Mamaev I. S., Tenenev V. A., The motion of a body with variable mass geometry in a viscous fluid, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 4, pp. 815-836
Rolling of a rigid body without slipping and spinning: kinematics and dynamics
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 4, pp. 783-797
Abstract
pdf (347.06 Kb)
In this paper we investigate various kinematic properties of rolling of one rigid body on another both for the classical model of rolling without slipping (the velocities of bodies at the point of contact coincide) and for the model of rubber-rolling (with the additional condition that the spinning of the bodies relative to each other be excluded). Furthermore, in the case where both bodies are bounded by spherical surfaces and one of them is fixed, the equations of motion for a moving ball are represented in the form of the Chaplygin system. When the center of mass of the moving ball coincides with its geometric center, the equations of motion are represented in conformally Hamiltonian form, and in the case where the radii of the moving and fixed spheres coincides, they are written in Hamiltonian form.
Keywords:
rolling without slipping, nonholonomic constraint, Chaplygin system, conformally Hamiltonian system
Citation:
Borisov A. V., Mamaev I. S., Treschev D. V., Rolling of a rigid body without slipping and spinning: kinematics and dynamics, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 4, pp. 783-797
On a mechanical lens
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 4, pp. 773-781
Abstract
pdf (380.35 Kb)
The problem of dynamics of heavy uniform ball moving on the fixed rough plane under its own inertia and forces of dry friction is considered. Assuming that friction coefficient is variable, the switching curve for change the value of friction coefficient is constructed. Using this curve to change the value of friction coefficient we have shown that the bundle of equal balls starting from one interval with equal linear and angular velocities should gather at one point.
Rolling without spinning of a ball on a plane: absence of an invariant measure in a system with a complete set of first integrals
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 605-616
Abstract
pdf (328.96 Kb)
In the paper we consider a system of a ball that rolls without slipping on a plane. The ball is assumed to be inhomogeneous and its center of mass does not necessarily coincide with its geometric center. We have proved that the governing equations can be recast into a system of six ODEs that admits four integrals of motion. Thus, the phase space of the system is foliated by invariant 2-tori; moreover, this foliation is equivalent to the Liouville foliation encountered in the case of Euler of the rigid body dynamics. However, the system cannot be solved in terms of quadratures because there is no invariant measure which we proved by finding limit cycles.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Rolling without spinning of a ball on a plane: absence of an invariant measure in a system with a complete set of first integrals, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 605-616
On the final motion of cylindrical solids on a rough plane
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 585-603
Abstract
pdf (623.55 Kb)
The problem of a uniform straight cylinder (disc) sliding on a horizontal plane under the action of dry friction forces is considered. The contact patch between the cylinder and the plane coincides with the base of the cylinder. We consider axisymmetric discs, i.e. we assume that the base of the cylinder is symmetric with respect to the axis lying in the plane of the base. The focus is on the qualitative properties of the dynamics of discs whose circular base, triangular base and three points are in contact with a rough plane.
Keywords:
Amontons–Coulomb law, dry friction, disc, final dynamics, stability
Citation:
Treschev D. V., Erdakova N. N., Ivanova T. B., On the final motion of cylindrical solids on a rough plane, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 585-603
On the Routh sphere
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 569-583
Abstract
pdf (299.77 Kb)
We discuss an embedding of the vector field associated with the nonholonomic Routh sphere in subgroup of the commuting Hamiltonian vector fields associated with this system. We prove that the corresponding Poisson brackets are reduced to canonical ones in the region without of homoclinic trajectories.
An extended Hamilton–Jacobi method
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 549-568
Abstract
pdf (400.68 Kb)
We develop a new method for solving Hamilton’s canonical differential equations. The method is based on the search of invariant vortex manifolds of special type. In the case of Lagrangian (potential) manifolds, we arrive at the classical Hamilton–Jacobi method.
On some new aspects of Celtic stone chaotic dynamics
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 507-518
Abstract
pdf (26.28 Mb)
We study chaotic dynamics of a nonholonomic model of celtic stone movement on the plane. Scenarious of appearance and development of chaos are investigated.
Gonchenko A. S., Gonchenko S. V., Kazakov A. O., On some new aspects of Celtic stone chaotic dynamics, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 3, pp. 507-518
How to control the Chaplygin sphere using rotors
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 2, pp. 289-307
Abstract
pdf (400.44 Kb)
In the paper we study control of a balanced dynamically nonsymmetric sphere with rotors. The no-slip condition at the point of contact is assumed. The algebraic contrability is shown and the control inputs providing motion of the ball along a given trajectory on the plane are found. For some simple trajectories explicit tracking algorithms are proposed.
Borisov A. V., Kilin A. A., Mamaev I. S., How to control the Chaplygin sphere using rotors, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 2, pp. 289-307
Viatcheslav Vladimirovich Meleshko (07.10.1951–14.11.2011)
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 179-182
Abstract
pdf (1.73 Mb)
Citation:
Grinchenko V. T., Krasnopolskaya T. S., Borisov A. V., van Heijst G. J., Viatcheslav Vladimirovich Meleshko (07.10.1951–14.11.2011), Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 179-182
The dynamics of vortex rings: Leapfrogging, choreographies and the stability problem
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 113-147
Abstract
pdf (1.03 Mb)
We consider the problem of the 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 in which the mutual 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.
Borisov A. V., Kilin A. A., Mamaev I. S., The dynamics of vortex rings: Leapfrogging, choreographies and the stability problem, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 113-147
The dynamics of the Chaplygin ball with a fluid-filled cavity
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 103-111
Abstract
pdf (305.43 Kb)
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.
Borisov A. V., Mamaev I. S., The dynamics of the Chaplygin ball with a fluid-filled cavity, Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 103-111
On invariant manifolds of nonholonomic systems
Russian Journal of Nonlinear Dynamics, 2012, vol. 8, no. 1, pp. 57-69
Abstract
pdf (329.1 Kb)
Invariant manifolds of equations governing the dynamics of conservative nonholonomic systems are investigated. These manifolds are assumed to be uniquely projected onto configuration space. The invariance conditions are represented in the form of generalized Lamb’s equations. Conditions are found under which the solutions to these equations admit a hydrodynamical description typical of Hamiltonian systems. As an illustration, nonholonomic systems on Lie groups with a left-invariant metric and left-invariant (right-invariant) constraints are considered.
Stability analysis of periodic solutions in the problem of the rolling of a ball with a pendulum
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2012, no. 4, pp. 146-155
Abstract
pdf (688.03 Kb)
In the paper we study the stability of a spherical shell rolling on a horizontal plane with Lagrange’s gyroscope inside. A linear stability analysis is made for the upper and lower position of a top. A bifurcation diagram of the system is constructed. The trajectories of the contact point for diﬀerent values of the integrals of motion are constructed and analyzed.
Keywords:
rolling motion, stability, Lagrange’s gyroscope, bifurcational diagram
Citation:
Pivovarova E. N., Ivanova T. B., Stability analysis of periodic solutions in the problem of the rolling of a ball with a pendulum, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2012, no. 4, pp. 146-155
On detachment conditions of a top on an absolutely rough support
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2012, no. 3, pp. 103-113
Abstract
pdf (292.26 Kb)
The classical problem about the motion of a heavy symmetric rigid body (top) with a fixed point on the horizontal plane is discussed. Due to the unilateral nature of the contact, detachments (jumps) are possible under certain conditions. We know two scenarios of detachment related to changing the sign of the normal reaction or the sign of the normal acceleration, and the mismatch of these conditions leads to a paradox. To determine the nature of paradoxes an example of the pendulum (rod) within the limitations of the real coefficient of friction was studied in detail. We showed that in the case of the first type of the paradox (detachment is impossible and contact is impossible) the body begins to slide on the support. In the case of the paradox of the second type (detachment is possible and contact is possible) contact is retained up to the sign change of the normal reaction, and then at the detachment the normal acceleration is non-zero.
Keywords:
friction, Lagrange top, paradox, detachment
Citation:
Ivanov A. P., Shuvalov N. D., Ivanova T. B., On detachment conditions of a top on an absolutely rough support, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2012, no. 3, pp. 103-113
Metropolis traffic modeling: from intelligent monitoring through physical representation to mathematical problems
Proc. International Conference on Computational and Mathematical Methods in Science and Engineering, 2012, vol. 1, pp. 750–756
Abstract
Citation:
Kozlov V. V., Buslaev A. P., Metropolis traffic modeling: from intelligent monitoring through physical representation to mathematical problems, Proc. International Conference on Computational and Mathematical Methods in Science and Engineering, 2012, vol. 1, pp. 750–756
Wigner measures on infinite-dimensional spaces and the Bogolyubov equations for quantum systems
Doklady Mathematics, 2011, vol. 84, no. 1, pp. 571–575
Abstract
Citation:
Kozlov V. V., Wigner measures on infinite-dimensional spaces and the Bogolyubov equations for quantum systems, Doklady Mathematics, 2011, vol. 84, no. 1, pp. 571–575
Problem of stability of two-link trajectories in a multidimensional Birkhoff billiard
Proceedings of the Steklov Institute of Mathematics, 2011, vol. 273, pp. 196–213
Abstract
A linearized problem of stability of simple periodic motions with elastic reflections is considered: a particle moves along a straight-line segment that is orthogonal to the boundary of a billiard at its endpoints. In this problem issues from mechanics (variational principles), linear algebra (spectral properties of products of symmetric operators), and geometry (focal points, caustics, etc.) are naturally intertwined. Multidimensional variants of Hill’s formula, which relates the dynamic and geometric properties of a periodic trajectory, are discussed. Stability conditions are expressed in terms of the geometric properties of the boundary of a billiard. In particular, it turns out that a nondegenerate two-link trajectory of maximum length is always unstable. The degree of instability (the number of multipliers outside the unit disk) is estimated. The estimates are expressed in terms of the geometry of the caustic and the Morse indices of the length function of this trajectory.
Citation:
Kozlov V. V., Problem of stability of two-link trajectories in a multidimensional Birkhoff billiard, Proceedings of the Steklov Institute of Mathematics, 2011, vol. 273, pp. 196–213
The equations of motion of a collisionless continuum
Journal of Applied Mathematics and Mechanics, 2011, vol. 75, no. 6, pp. 619–630
Abstract
pdf (689.16 Kb)
The equations of motion of a collisionless continuum are derived within an Eulerian approach. They differ from the classical equations of motion of an ideal gas, which take into account heat conduction phenomena. Several problems related to the weak convergence of the solutions of the equations of motion of a continuum when there is an unbounded increase in time are discussed. The problem of the correctness of the operation of truncating the exact infinite chain of equations of a collisionless gas is examined.
Citation:
Kozlov V. V., The equations of motion of a collisionless continuum, Journal of Applied Mathematics and Mechanics, 2011, vol. 75, no. 6, pp. 619–630
Hassan Aref (1950–2011)
Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 671-684
Abstract
pdf (777.79 Kb)
Citation:
Borisov A. V., Meleshko V. V., Stremler M. A., van Heijst G. J., Hassan Aref (1950–2011), Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 671-684
On the Model of Non-holonomic Billiard
Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 653-662
Abstract
pdf (199.9 Kb)
In this paper we develop a new model of non-holonomic billiard that accounts for the intrinsic rotation of the billiard ball. This model is a limit case of the problem of rolling without slipping of a ball without slipping over a quadric surface. The billiards between two parallel walls and inside a circle are studied in detail. Using the three-dimensional-point-map technique, the non-integrability of the non-holonomic billiard within an ellipse is shown.
Keywords:
billiard, impact, point map, nonintegrability, periodic solution, nonholonomic constraint, integral of motion
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., On the Model of Non-holonomic Billiard, Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 653-662
The Vlasov Kinetic Equation, Dynamics of Continuum and Turbulence
Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 602-622
Abstract
pdf (323.98 Kb)
We consider a continuum of interacting particles whose evolution is governed by the Vlasov kinetic equation. An infinite sequence of equations of motion for this medium (in the Eulerian description) is derived and its general properties are explored. An important example is a collisionless gas, which exhibits irreversible behavior. Though individual particles interact via a potential, the dynamics of the continuum bears dissipative features. Applicability of the Vlasov equations to the modeling of small-scale turbulence is discussed.
Hassan Aref (1950–2011)
Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 671-684
Abstract
pdf (777.79 Kb)
Citation:
Borisov A. V., Meleshko V. V., Stremler M. A., van Heijst G. J., Hassan Aref (1950–2011), Regular and Chaotic Dynamics, 2011, vol. 16, no. 6, pp. 671-684
Statistical Irreversibility of the Kac Reversible Circular Model
Regular and Chaotic Dynamics, 2011, vol. 16, no. 5, pp. 536-549
Abstract
pdf (202.6 Kb)
The Kac circular model is a discrete dynamical system which has the property of recurrence and reversibility. Within the framework of this model M.Kac formulated necessary conditions for irreversibility over "short" time intervals to take place and demonstrated Boltzmann’s most important exploration methods and ideas, outlining their advantages and limitations. We study the circular model within the realm of the theory of Gibbs ensembles and offer a new approach to a rigorous proof of the "zeroth" law of thermodynamics based on the analysis of weak convergence of probability distributions.
Rolling of a Homogeneous Ball over a Dynamically Asymmetric Sphere
Regular and Chaotic Dynamics, 2011, vol. 16, no. 5, pp. 465-483
Abstract
pdf (643.15 Kb)
We consider a novel mechanical system consisting of two spherical bodies rolling over each other, which is a natural extension of the famous Chaplygin problem of rolling motion of a ball on a plane. In contrast to the previously explored non-holonomic systems, this one has a higher dimension and is considerably more complicated. One remarkable property of our system is the existence of "clandestine" linear in momenta first integrals. For a more trivial integrable system, their counterparts were discovered by Chaplygin. We have also found a few cases of integrability.
Keywords:
nonholonomic constraint, rolling motion, Chaplygin ball, integral, invariant measure
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Rolling of a Homogeneous Ball over a Dynamically Asymmetric Sphere, Regular and Chaotic Dynamics, 2011, vol. 16, no. 5, pp. 465-483
Hamiltonization of Nonholonomic Systems in the Neighborhood of Invariant Manifolds
Regular and Chaotic Dynamics, 2011, vol. 16, no. 5, pp. 443-464
Abstract
pdf (425.83 Kb)
The problem of Hamiltonization of nonholonomic systems, both integrable and non-integrable, is considered. This question is important in the qualitative analysis of such systems and it enables one to determine possible dynamical effects. The first part of the paper is devoted to representing integrable systems in a conformally Hamiltonian form. In the second part, the existence of a conformally Hamiltonian representation in a neighborhood of a periodic solution is proved for an arbitrary (including integrable) system preserving an invariant measure. Throughout the paper, general constructions are illustrated by examples in nonholonomic mechanics.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Hamiltonization of Nonholonomic Systems in the Neighborhood of Invariant Manifolds, Regular and Chaotic Dynamics, 2011, vol. 16, no. 5, pp. 443-464
Hamiltonicity and integrability of the Suslov problem
Regular and Chaotic Dynamics, 2011, vol. 16, no. 1-2, pp. 104-116
Abstract
pdf (239.81 Kb)
The Hamiltonian representation and integrability of the nonholonomic Suslov problem and its generalization suggested by S. A. Chaplygin are considered. This subject is important for understanding the qualitative features of the dynamics of this system, being in particular related to a nontrivial asymptotic behavior (i. e., to a certain scattering problem). A general approach based on studying a hierarchy in the dynamical behavior of nonholonomic systems is developed.
Borisov A. V., Kilin A. A., Mamaev I. S., Hamiltonicity and integrability of the Suslov problem, Regular and Chaotic Dynamics, 2011, vol. 16, no. 1-2, pp. 104-116
An omni-wheel vehicle on a plane and a sphere
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 4, pp. 785-801
Abstract
pdf (726.7 Kb)
We consider a nonholonomic model of the dynamics of an omni-wheel vehicle on a plane and a sphere. An elementary derivation of equations is presented, the dynamics of a free system is investigated, a relation to control problems is shown.
Borisov A. V., Kilin A. A., Mamaev I. S., An omni-wheel vehicle on a plane and a sphere, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 4, pp. 785-801
The bifurcation analysis and the Conley index in mechanics
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 649-681
Abstract
pdf (782.35 Kb)
The paper is concerned with the use of bifurcation analysis and the Conley index in Hamiltonian dynamical systems. We give the proof of the theorem on the appearance (disappearance) of fixed points in the case of the Morse index change. New relative equilibria in the problem of the motion of point vortices of equal intensity in a circle are found.
Bolsinov A. V., Borisov A. V., Mamaev I. S., The bifurcation analysis and the Conley index in mechanics, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 649-681
The Lorentz force and its generalizations
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 627-634
Abstract
pdf (359.22 Kb)
The structure of the Lorentz force and the related analogy between electromagnetism and inertia are discussed. The problem of invariant manifolds of the equations of motion for a charge in an electromagnetic field and the conditions for these manifolds to be Lagrangian are considered.
A rigid cylinder on a viscoelastic plane
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 601-625
Abstract
pdf (499.7 Kb)
The paper considers two two-dimensional dynamical problems for an absolutely rigid cylinder interacting with a deformable flat base (the motion of an absolutely rigid disk on a base which in non-deformed condition is a straight line). The base is a sufficiently stiff viscoelastic medium that creates a normal pressure $p(x) = kY(x)+ν\dot{Y}(x)$, where $x$ is a coordinate on the straight line, $Y(x)$ is a normal displacement of the point $x$, and $k$ and $ν$ are elasticity and viscosity coefficients (the Kelvin—Voigt medium). We are also of the opinion that during deformation the base generates friction forces, which are subject to Coulomb’s law. We consider the phenomenon of impact that arises during an arbitrary fall of the disk onto the straight line and investigate the disk’s motion «along the straight line» including the stages of sliding and rolling.
Kuleshov A. S., Treschev D. V., Ivanova T. B., Naymushina O. S., A rigid cylinder on a viscoelastic plane, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 601-625
Two non-holonomic integrable systems of coupled rigid bodies
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 559-568
Abstract
pdf (404.52 Kb)
The paper considers two new integrable systems due to Chaplygin, which describe the rolling of a spherical shell on a plane, with a ball or Lagrange’s gyroscope inside. All necessary first integrals and an invariant measure are found. The reduction to quadratures is given.
Borisov A. V., Mamaev I. S., Two non-holonomic integrable systems of coupled rigid bodies, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 3, pp. 559-568
On V.A. Steklov’s legacy in classical mechanics
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 2, pp. 389-403
Abstract
pdf (368.21 Kb)
This paper has been written for a collection of V.A. Steklov’s selected works, which is being prepared for publication and is entitled «Works on Mechanics 1902–1909: Translations from French». The collection is based on V.A. Steklov’s papers on mechanics published in French journals from 1902 to 1909.
Citation:
Borisov A. V., Gazizullina L., Mamaev I. S., On V.A. Steklov’s legacy in classical mechanics, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 2, pp. 389-403
Generalized Chaplygin’s transformation and explicit integration of a system with a spherical support
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 2, pp. 313-338
Abstract
pdf (1.78 Mb)
We consider the problem of explicit integration and bifurcation analysis for two systems of nonholonomic mechanics. The first one is the Chaplygin’s problem on no-slip rolling of a balanced dynamically non-symmetrical ball on a horizontal plane. The second problem is on the motion of rigid body in a spherical support. We explicitly integrate this problem by generalizing the transformation which Chaplygin applied to the integration of the problem of the rolling ball at a non-zero constant of areas. We consider the geometric interpretation of this transformation from the viewpoint of a trajectory isomorphism between two systems at different levels of the energy integral. Generalization of this transformation for the case of dynamics in a spherical support allows us to integrate the equations of motion explicitly in quadratures and, in addition, to indicate periodic solutions and analyze their stability. We also show that adding a gyrostat does not lead to the loss of integrability.
Borisov A. V., Kilin A. A., Mamaev I. S., Generalized Chaplygin’s transformation and explicit integration of a system with a spherical support, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 2, pp. 313-338
Stability of new relative equilibria of the system of three point vortices in a circular domain
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 1, pp. 119-138
Abstract
pdf (1.2 Mb)
This paper presents a topological approach to the search and stability analysis of relative equilibria of three point vortices of equal intensities. It is shown that the equations of motion can be reduced by one degree of freedom. We have found two new stationary configurations (isosceles and non-symmetrical collinear) and studied their bifurcations and stability.
Keywords:
point vortex, reduction, bifurcational diagram, relative equilibriums, stability, periodic solutions
Citation:
Borisov A. V., Mamaev I. S., Vaskina A. V., Stability of new relative equilibria of the system of three point vortices in a circular domain, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 1, pp. 119-138
Statistical irreversibility of the Kac reversible circular model
Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 1, pp. 101-117
Abstract
pdf (419.07 Kb)
The Kac circular model is a discrete dynamical system which has the property of recurrence and reversibility. Within the framework of this model M.Kac formulated necessary conditions for irreversibility over «short» time intervals to take place and demonstrated Boltzmann’s most important exploration methods and ideas, outlining their advantages and limitations. We study the circular model within the realm of the theory of Gibbs ensembles and offer a new approach to a rigorous proof of the «zeroth» law of thermodynamics basing on the analysis of weak convergence of probability distributions.
Kozlov V. V., Statistical irreversibility of the Kac reversible circular model, Russian Journal of Nonlinear Dynamics, 2011, vol. 7, no. 1, pp. 101-117
Motion control simulating in a viscous liquid of a body with variable geometry of weights
Computer Research and Modeling, 2011, vol. 3, no. 4, pp. 371-381
Abstract
pdf (594.85 Kb)
Statement of a problem of management of movement of a body in a viscous liquid is given. Movement bodies it is induced by moving of internal material points. On a basis the numerical decision of the equations of movement of a body and the hydrodynamic equations approximating dependencies for viscous forces are received. With application approximations the problem of optimum control of body movement dares on the set trajectory with application of hybrid genetic algorithm. Possibility of the directed movement of a body under action is established back and forth motion of an internal point. Optimum control movement direction it is carried out by motion of other internal point on circular trajectory with variable speed
Keywords:
optimum control, the equations of movement, Navier–Stokes equations, numerical methods, fuzzy decision trees, genetic algorithm
Citation:
Vetchanin E. V., Tenenev V. A., Motion control simulating in a viscous liquid of a body with variable geometry of weights, Computer Research and Modeling, 2011, vol. 3, no. 4, pp. 371-381
Some mathematical and information aspects of traffic modeling
T-Comm: Telecommunications and Transport, 2011, no. 4, pp. 29–31
Abstract
pdf (809.09 Kb)
Transport, communications and mathematics (in wider understanding - natural sciences) it becomes more and more obvious to despite different "age" of these three components. If the mathematics in Russia (USSR) was always, at least, since that moment as to Russia were invited L.Eyler (1976) and D. Bernulli (1725) that a traffic (traffic) as the appreciable phenomenon and an acute problem, appeared in the early nineties after opening of borders and a mass import of cars. With transition to market economy and small business mobility of the population, need for multipurpose cars and load of a street road network sharply increased.
Citation:
Bugaev A. S., Buslaev A. P., Kozlov V. V., Yashina M. V., Some mathematical and information aspects of traffic modeling, T-Comm: Telecommunications and Transport, 2011, no. 4, pp. 29–31
Figures of equilibrium of liquid self-gravitating inhomogeneous mass
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2011, no. 3, pp. 142-153
Abstract
pdf (215.68 Kb)
We consider the inhomogeneous self-gravitating liquid spheroid with confocal stratification which rotates around the minor semiaxis and is in equilibrium. General relationships for pressure, angular velocity and gravitational potential of the spheroid with any density function are obtained. Special cases of piecewise constant and continuous density functions are analyzed.
Bizyaev I. A., Ivanova T. B., Figures of equilibrium of liquid self-gravitating inhomogeneous mass, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2011, no. 3, pp. 142-153
Osnovaniya statisticheskoi mekhaniki i raboty Puankare, Erenfestov i fon Neimana
in A. Puankare, T. and P. Erenfesty, Dzh. fon Neiman, Raboty po statisticheskoi mekhanike, Moscow–Izhevsk: Institute of Computer Science, 2011, 249–279 pp.
Abstract
Citation:
Kozlov V. V., Smolyanov O. G., Osnovaniya statisticheskoi mekhaniki i raboty Puankare, Erenfestov i fon Neimana, in A. Puankare, T. and P. Erenfesty, Dzh. fon Neiman, Raboty po statisticheskoi mekhanike, Moscow–Izhevsk: Institute of Computer Science, 2011, 249–279 pp.
Bogoliubov type equations via infinite-dimensional equations for measures
Quantum bio-informatics IV, QP–PQ: Quantum Probability and White Noise Analysis, 2011, vol. 28, pp. 321–337
Abstract
The following sections are included:
Introduction
Symplectic locally convex spaces and Hamilton's equations.
Liouville's equations with respect to measures.
Systems of equations with respect to finite-dimensional distributions of probabilities.
Bogolyubov's systems of equations.
Wigner measures.
Generalization of Poincaré's model.
References
Citation:
Kozlov V. V., Smolyanov O. G., Bogoliubov type equations via infinite-dimensional equations for measures, Quantum bio-informatics IV, QP–PQ: Quantum Probability and White Noise Analysis, 2011, vol. 28, pp. 321–337
Distributed problems of monitoring and modern approaches to traffic modeling
2011 14th IEEE International IEEE Conference on Intelligent Transportation Systems (ITSC), 14th International IEEE Conference on Intelligent Transportation Systems-ITSC, 2011, pp. 477–481
Abstract
The paper discusses some mathematical models of traffic flow. We have introduced the concept of a stationary r-connected traffic flow on k-lane road as a development of the hydrodynamic approach and cellular automata method. A client-server based software “SSSR”-system, using smart-phone programming, for evaluating a distance of safety in continuous traffic was developed. A series of experiments were carried out using the SSSR-system, the results showing good agreement with those obtained by Greenshields in 1933. Other problems of traffic monitoring and control by the programmed SSSR-system are discussed. We also introduce a few open problems.
Citation:
Bugaev A. S., Buslaev A. P., Kozlov V. V., Yashina M. V., Distributed problems of monitoring and modern approaches to traffic modeling, 2011 14th IEEE International IEEE Conference on Intelligent Transportation Systems (ITSC), 14th International IEEE Conference on Intelligent Transportation Systems-ITSC, 2011, pp. 477–481
Infinite-dimensional Liouville equations with respect to measures
Doklady Mathematics, 2010, vol. 81, no. 3, pp. 476–480
Abstract
Citation:
Kozlov V. V., Smolyanov O. G., Infinite-dimensional Liouville equations with respect to measures, Doklady Mathematics, 2010, vol. 81, no. 3, pp. 476–480
On the variational principles of mechanics
Journal of Applied Mathematics and Mechanics, 2010, vol. 74, no. 5, pp. 505–512
Abstract
Variational principles, generalizing the classical d’Alembert–Lagrange, Hölder, and Hamilton–Ostrogradskii principles, are established. After the addition of anisotropic dissipative forces and taking the limit, when the coefficient of viscous friction tends to infinity, these variational principles transform into the classical principles, which describe the motion of systems with constraints. New variational relations are established for searching for the periodic trajectories of the reversible equations of dynamics.
Citation:
Kozlov V. V., On the variational principles of mechanics, Journal of Applied Mathematics and Mechanics, 2010, vol. 74, no. 5, pp. 505–512
Remarks on the degree of instability
Journal of Applied Mathematics and Mechanics, 2010, vol. 74, no. 1, pp. 10–12
Abstract
pdf (242.92 Kb)
Linear systems of differential equations allowing of functions in quadratic forms that do not increase along trajectories with time are considered. The relations between the indices of inertia of these forms and the degrees of instability of equilibrium states are indicated. These assertions generalize known results from the oscillation theory of linear systems with dissipation, and reveal the mechanism of loss of stability when non-increasing quadratic forms lose the property of a minimum.
Citation:
Kozlov V. V., Remarks on the degree of instability, Journal of Applied Mathematics and Mechanics, 2010, vol. 74, no. 1, pp. 10–12
Topology and stability of integrable systems
Russian Mathematical Surveys, 2010, vol. 65, no. 2, pp. 259–318
Abstract
pdf (1.12 Mb)
In this paper a general topological approach is proposed for the study of stability of periodic solutions of integrable dynamical systems with two degrees of freedom. The methods developed are illustrated by examples of several integrable problems related to the classical Euler–Poisson equations, the motion of a rigid body in a fluid, and the dynamics of gaseous expanding ellipsoids. These topological methods also enable one to find non-degenerate periodic solutions of integrable systems, which is especially topical in those cases where no general solution (for example, by separation of variables) is known.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Topology and stability of integrable systems, Russian Mathematical Surveys, 2010, vol. 65, no. 2, pp. 259–318
Coupled motion of a rigid body and point vortices on a two-dimensional spherical surface
Regular and Chaotic Dynamics, 2010, vol. 15, no. 4-5, pp. 440-461
Abstract
pdf (298.75 Kb)
The paper is concerned with a class of problems which involves the dynamical interaction of a rigid body with point vortices on the surface of a two-dimensional sphere. The general approach to the 2D hydrodynamics is further developed. The problem of motion of a dynamically symmetric circular body interacting with a single vortex is shown to be integrable. Mass vortices on $S^2$ are introduced and the related issues (such as equations of motion, integrability, partial solutions, etc.) are discussed. This paper is a natural progression of the author’s previous research on interaction of rigid bodies and point vortices in a plane.
Keywords:
hydrodynamics on a sphere, coupled body-vortex system, mass vortex, equations of motion, integrability
Citation:
Borisov A. V., Mamaev I. S., Ramodanov S. M., Coupled motion of a rigid body and point vortices on a two-dimensional spherical surface, Regular and Chaotic Dynamics, 2010, vol. 15, no. 4-5, pp. 440-461
Rolling of a homogeneous ball over a dynamically asymmetric sphere
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 869-889
Abstract
pdf (486.45 Kb)
We consider a novel mechanical system consisting of two spherical bodies rolling over each other, which is a natural extension of the famous Chaplygin problem of rolling motion of a ball on a plane. In contrast to the previously explored non-holonomic systems, this one has a higher dimension and is considerably more complicated. One remarkable property of our system is the existence of «clandestine» linear in momenta first integrals. For a more trivial integrable system, their counterparts were discovered by Chaplygin. We have also found a few cases of integrability.
Keywords:
nonholonomic constraint, rolling motion, Chaplygin ball, integral, invariant measure
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Rolling of a homogeneous ball over a dynamically asymmetric sphere, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 869-889
Lagrangian mechanics and dry friction
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 855-868
Abstract
pdf (265.11 Kb)
A generalization of Amantons’ law of dry friction for constrained Lagrangian systems is formulated. Under a change of generalized coordinates the components of the dry-friction force transform according to the covariant rule and the force itself satisfies the Painlevé condition. In particular, the pressure of the system on a constraint is independent of the anisotropic-friction tensor. Such an approach provides an insight into the Painlevé dry-friction paradoxes. As an example, the general formulas for the sliding friction force and torque and the rotation friction torque on a body contacting with a surface are obtained.
Hamiltonisation of non-holonomic systems in the neighborhood of invariant manifolds
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 829-854
Abstract
pdf (398.78 Kb)
Hamiltonisation problem for non-holonomic systems, both integrable and non-integrable, is considered. This question is important for qualitative analysis of such systems and allows one to determine possible dynamical effects. The first part is devoted to the representation of integrable systems in a conformally Hamiltonian form. In the second part, the existence of a conformally Hamiltonian representation in a neighbourhood of a periodic solution is proved for an arbitrary measure preserving system (including integrable). General consructions are always illustrated by examples from non-holonomic mechanics.
Bolsinov A. V., Borisov A. V., Mamaev I. S., Hamiltonisation of non-holonomic systems in the neighborhood of invariant manifolds, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 829-854
Stability of a liquid self-gravitating elliptic cylinder with intrinsic rotation
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 807-822
Abstract
pdf (902.16 Kb)
We consider figures of equilibrium and stability of a liquid self-gravitating elliptic cylinder. The flow within the cylinder is assumed to be dew to an elliptic perturbation. A bifurcation diagram is plotted and conditions for steady solutions to exist are indicated.
Keywords:
self-gravitating liquid, elliptic cylinder, bifurcation point, stability, Riemann equations
Citation:
Borisov A. V., Mamaev I. S., Ivanova T. B., Stability of a liquid self-gravitating elliptic cylinder with intrinsic rotation, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 4, pp. 807-822
On the dynamics of two point vortices in an annular region
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 531-547
Abstract
pdf (411.62 Kb)
In this paper, the system of two vortices in an annular region is shown to be integrable in the sense of Liouville. A few methods for analysis of the dynamics of integrable systems are discussed and these methods are then applied to the study of possible motions of two vortices of equal in magnitude intensities. Using the previously established fact of the existence of relative choreographies, the absolute motions of the vortices are classified in respect to the corresponding regions in the phase portrait of the reduced system.
Keywords:
point vortex, reduction, equations of motion, bifurcational diagram, relative choreographies, vortex pair
Citation:
Vaskin V. V., Erdakova N. N., On the dynamics of two point vortices in an annular region, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 531-547
Dynamic advection
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 521-530
Abstract
pdf (10.3 Mb)
A new concept of dynamic advection is introduced. The model of dynamic advection deals with the motion of massive particles in a 2D flow of an ideal incompressible liquid. Unlike the standard advection problem, which is widely treated in the modern literature, our equations of motion account not only for particles’ kinematics, governed by the Euler equations, but also for their dynamics (which is obviously neglected if the mass of particles is taken to be zero). A few simple model problems are considered.
Keywords:
advection, mixing, point vortex, coarse-grained impurities, bifurcation complex
Citation:
Borisov A. V., Mamaev I. S., Ramodanov S. M., Dynamic advection, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 521-530
The Vlasov kinetic equation, dynamics of continuum and turbulence
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 489-512
Abstract
pdf (276.41 Kb)
We consider a continuum of interacting particles whose evolution is governed by the Vlasov kinetic equation. An infinite sequence of equations of motion for this medium (in the Eulerian description) is derived and its general properties are explored. An important example is a collisionless gas, which exhibits irreversible behavior. Though individual particles interact via a potential, the dynamics of the continuum bears dissipative features. Applicability of the Vlasov equations to the modeling of small-scale turbulence is discussed.
Keywords:
The Vlasov kinetic equation, dynamics of continuum and turbulence
Citation:
Kozlov V. V., The Vlasov kinetic equation, dynamics of continuum and turbulence, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 489-512
Valery Vasilievich Kozlov. On his 60th birthday
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 461-488
Abstract
pdf (25.39 Mb)
Citation:
Borisov A. V., Bolotin S. V., Kilin A. A., Mamaev I. S., Treschev D. V., Valery Vasilievich Kozlov. On his 60th birthday, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 3, pp. 461-488
On the model of non-holonomic billiard
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 2, pp. 373-385
Abstract
pdf (237.96 Kb)
In this paper we develop a new model of non-holonomic billiard that accounts for the intrinsic rotation of the billiard ball. This model is a limit case of the problem of rolling without slipping of a ball without slipping over a quadric surface. The billiards between two parallel walls and inside a circle are studied in detail. Using the three-dimensional-point-map technique, the non-integrability of the non-holonomic billiard within an ellipse is shown.
Keywords:
billiard, impact, point mapping, nonintegrability, periodic solution, nonholonomic constraint, integral of motion
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., On the model of non-holonomic billiard, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 2, pp. 373-385
Problems of stability and asymptotic behavior of vortex patches on the plane
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 2, pp. 327-343
Abstract
pdf (685.19 Kb)
With the help of mathematical modelling, we study the dynamics of many point vortices system on the plane. For this system, we consider the following cases:
— vortex rings with outer radius $r = 1$ and variable inner radius $r_0$,
— vortex ellipses with semiaxes $a$, $b$.
The emphasis is on the analysis of the asymptotic $(t → ∞)$ behavior of the system and on the verification of the stability criteria for vorticity continuous distributions.
Keywords:
vortex dynamics, point vortex, hydrodynamics, asymptotic behavior
Citation:
Vaskin V. V., Vaskina A. V., Mamaev I. S., Problems of stability and asymptotic behavior of vortex patches on the plane, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 2, pp. 327-343
Hamiltonian representation and integrability of the Suslov problem
Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 1, pp. 127-142
Abstract
pdf (654.76 Kb)
We consider the problems of Hamiltonian representation and integrability of the nonholonomic Suslov system and its generalization suggested by S. A. Chaplygin. These aspects are very important for understanding the dynamics and qualitative analysis of the system. In particular, they are related to the nontrivial asymptotic behaviour (i. e. to some scattering problem). The paper presents a general approach based on the study of the hierarchy of dynamical behaviour of nonholonomic systems.
Borisov A. V., Kilin A. A., Mamaev I. S., Hamiltonian representation and integrability of the Suslov problem, Russian Journal of Nonlinear Dynamics, 2010, vol. 6, no. 1, pp. 127-142
Construction of bifurcation diagram and analysis of stability of self-gravitating fluid elliptical cylinder with internal flow
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2010, no. 4, pp. 77-86
Abstract
pdf (588.63 Kb)
Figures of equilibrium are considered and the stability of liquid self-gravitating elliptic cylinder with an internal flow in a class of elliptic indignations are researched. The bifurcation diagram of given system is constructed, areas of existence of the stationary solutions are specified.
Ivanova T. B., Construction of bifurcation diagram and analysis of stability of self-gravitating fluid elliptical cylinder with internal flow, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2010, no. 4, pp. 77-86
Thomson’s configurations in dynamics of two vortices in an annular region
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2010, no. 4, pp. 71-76
Abstract
pdf (146.57 Kb)
For the system of two point vortices in anulus the Hamiltonian is expressed in terms of elliptic functions. The stability of the Thomson configuration is studied.
Keywords:
point vortex, Thomson configuration, elliptic functions, stability
Citation:
Erdakova N. N., Thomson’s configurations in dynamics of two vortices in an annular region, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2010, no. 4, pp. 71-76
Dynamics of a wheeled carriage on a plane
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2010, no. 4, pp. 39-48
Abstract
pdf (385.82 Kb)
The paper deals with the problem of motion of a wheeled carriage on a plane in the case where one of the wheeled pairs is fixed. In addition, the case of motion of a wheeled carriage on a plane in the case of two free wheeled pairs is considered.
Keywords:
nonholonomic constraint, dynamics of the system, wheeled carriage
Citation:
Borisov A. V., Lutsenko S. G., Mamaev I. S., Dynamics of a wheeled carriage on a plane, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2010, no. 4, pp. 39-48
Dynamics of liquid and gas ellipsoids
Izhevsk: Regular and Chaotic Dynamics, 2010, 364 pp.
Abstract
pdf (3.89 Mb)
This book is a collection of the most significant classical results on the dynamics of liquid and gaseous ellipsoids, starting with the fundamental investigations of Dirichlet and Riemann.
The papers of the collection deal primarily with the derivation of various forms of the equations of motion and the investigation of qualitative properties of the dynamics of ellipsoidal figures.
The book addresses specialists and graduate students interested in mechanics, mathematical physics and the history of science.
Citation:
Borisov A. V., Mamaev I. S., Dynamics of liquid and gas ellipsoids, Izhevsk: Regular and Chaotic Dynamics, 2010, 364 pp.
Lyapunov A.M. Works on theoretical mechanics. From the 1882-1894 handwritten heritage
Izhevsk: Regular and Chaotic Dynamics, 2010, pp. 6-20
Abstract
pdf (174.49 Kb)
Citation:
Borisov A. V., Mamaev I. S., Tsiganov A. V., Lyapunov A.M. Works on theoretical mechanics. From the 1882-1894 handwritten heritage, Izhevsk: Regular and Chaotic Dynamics, 2010, pp. 6-20
The dynamics of a Chaplygin sleigh
Journal of Applied Mathematics and Mechanics, 2009, vol. 73, no. 2, pp. 156-161
Abstract
pdf (263.77 Kb)
The problem of the motion of a Chaplygin sleigh on horizontal and inclined surfaces is considered. The possibility of representing the equations of motion in Hamiltonian form and of integration using Liouville’s theorem (with a redundant algebra of integrals) is investigated. The asymptotics for the rectilinear uniformly accelerated sliding of a sleigh along the line of steepest descent are determined in the case of an inclined plane. The zones in the plane of the initial conditions, corresponding to a different behaviour of the sleigh, are constructed using numerical calculations. The boundaries of these domains are of a complex fractal nature, which enables a conclusion to be drawn concerning the probable character from of the dynamic behaviour.
Citation:
Borisov A. V., Mamaev I. S., The dynamics of a Chaplygin sleigh, Journal of Applied Mathematics and Mechanics, 2009, vol. 73, no. 2, pp. 156-161
On the mechanism of stability loss
Differential Equations, 2009, vol. 45, no. 4, pp. 510–519
Abstract
We consider linear systems of differential equations admitting functions in the form of quadratic forms that do not increase along trajectories in the course of time. We find new relations between the inertia indices of these forms and the instability degrees of the equilibria. These assertions generalize well-known results in the oscillation theory of linear systems with dissipation and clarify the mechanism of stability loss, whereby nonincreasing quadratic forms lose the property of minimum.
Citation:
Kozlov V. V., On the mechanism of stability loss, Differential Equations, 2009, vol. 45, no. 4, pp. 510–519
Superintegrable system on a sphere with the integral of higher degree
Regular and Chaotic Dynamics, 2009, vol. 14, no. 6, pp. 615-620
Abstract
pdf (125.27 Kb)
We consider the motion of a material point on the surface of a sphere in the field of $2n + 1$ identical Hooke centers (singularities with elastic potential) lying on a great circle. Our main result is that this system is superintegrable. The property of superintegrability for this system has been conjectured by us in [1], where the structure of a superintegral of arbitrarily high odd degree in momemnta was outlined. We also indicate an isomorphism between this system and the one-dimensional $N$-particle system discussed in the recent paper [2] and show that for the latter system an analogous superintegral can be constructed.
Keywords:
superintegrable systems, systems with a potential, Hooke center
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Superintegrable system on a sphere with the integral of higher degree, Regular and Chaotic Dynamics, 2009, vol. 14, no. 6, pp. 615-620
Kinetics of collisionless gas: Equalization of temperature, growth of the coarse-grained entropy and the Gibbs paradox
Regular and Chaotic Dynamics, 2009, vol. 14, no. 4-5, pp. 535-540
Abstract
pdf (172.17 Kb)
The Poincaré model for dynamics of a collisionless gas in a rectangular parallelepiped with mirror walls is considered. The question on smoothing of the density and the temperature of this gas and conditions for the monotone growth of the coarse-grained entropy are discussed. All these effects provide a new insight of the classical paradox of mixing of gases.
Kozlov V. V., Kinetics of collisionless gas: Equalization of temperature, growth of the coarse-grained entropy and the Gibbs paradox, Regular and Chaotic Dynamics, 2009, vol. 14, no. 4-5, pp. 535-540
Isomorphisms of geodesic flows on quadrics
Regular and Chaotic Dynamics, 2009, vol. 14, no. 4-5, pp. 455-465
Abstract
pdf (376.58 Kb)
We consider several well-known isomorphisms between Jacobi’s geodesic problem and some integrable cases from rigid body dynamics (the cases of Clebsch and Brun). A relationship between these isomorphisms is indicated. The problem of compactification for geodesic flows on noncompact surfaces is stated. This problem is hypothesized to be intimately connected with the property of integrability.
The Hamiltonian Dynamics of Self-gravitating Liquid and Gas Ellipsoids
Regular and Chaotic Dynamics, 2009, vol. 14, no. 2, pp. 179-217
Abstract
pdf (885.59 Kb)
The dynamics of self-gravitating liquid and gas ellipsoids is considered. A literary survey and authors’ original results obtained using modern techniques of nonlinear dynamics are presented. Strict Lagrangian and Hamiltonian formulations of the equations of motion are given; in particular, a Hamiltonian formalism based on Lie algebras is described. Problems related to nonintegrability and chaos are formulated and analyzed. All the known integrability cases are classified, and the most natural hypotheses on the nonintegrability of the equations of motion in the general case are presented. The results of numerical simulations are described. They, on the one hand, demonstrate a chaotic behavior of the system and, on the other hand, can in many cases serve as a numerical proof of the nonintegrability (the method of transversally intersecting separatrices).
Keywords:
liquid and gas self-gravitating ellipsoids, integrability, chaotic behavior
Citation:
Borisov A. V., Mamaev I. S., Kilin A. A., The Hamiltonian Dynamics of Self-gravitating Liquid and Gas Ellipsoids, Regular and Chaotic Dynamics, 2009, vol. 14, no. 2, pp. 179-217
Multiparticle Systems. The Algebra of Integrals and Integrable Cases
Regular and Chaotic Dynamics, 2009, vol. 14, no. 1, pp. 18-41
Abstract
pdf (472.45 Kb)
Systems of material points interacting both with one another and with an external field are considered in Euclidean space. For the case of arbitrary binary interaction depending solely on the mutual distance between the bodies, new integrals are found, which form a Galilean momentum vector. A corresponding algebra of integrals constituted by the integrals of momentum, angular momentum, and Galilean momentum is presented. Particle systems with a particleinteraction potential homogeneous of degree $\alpha = –2$ are considered. The most general form of the additional integral of motion, which we term the Jacobi integral, is presented for such systems. A new nonlinear algebra of integrals including the Jacobi integral is found. A systematic description is given to a new reduction procedure and possibilities of applying it to dynamics with the aim of lowering the order of Hamiltonian systems.
Some new integrable and superintegrable systems generalizing the classical ones are also described. Certain generalizations of the Lagrangian identity for systems with a particle interaction potential homogeneous of degree $\alpha = –2$ are presented. In addition, computational experiments are used to prove the nonintegrability of the Jacobi problem on a plane.
Keywords:
multiparticle systems, Jacobi integral
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Multiparticle Systems. The Algebra of Integrals and Integrable Cases, Regular and Chaotic Dynamics, 2009, vol. 14, no. 1, pp. 18-41
Statistical mechanics of relativistic gas in a one-dimensional tube
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 4, pp. 561-567
Abstract
pdf (436.68 Kb)
This study is the continuation of the computer experiment [1] with particles of gas in a one-dimensional tube, described earlier. In this paper we give investigation results for the statistical properties of a relativistic gas in a one-dimensional tube. It is shown that this system reaches the state of thermodynamical equilibrium whose distribution function is determined by the relativistic energy of particles. The system of particles in a one-dimensional tube is described by analogy with the billiards in a polygon.
Keywords:
relativistic gas, thermodynamical equilibrium, gas in a one-dimensional tube, Boltzmann distribution
Citation:
Vaskin V. V., Erdakova N. N., Statistical mechanics of relativistic gas in a one-dimensional tube, Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 4, pp. 561-567
New superintegrable system on a sphere
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 4, pp. 455-462
Abstract
pdf (214.58 Kb)
We consider the motion of a material point on the surface of a sphere in the field of 2n+1 identical Hooke centers (singularities with elastic potential) lying on a great circle. Our main result is that this system is superintegrable. The property of superintegrability for this system has been conjectured by us in [3], where the structure of a superintegral of arbitrarily high odd degree in momemnta was outlined. We also indicate an isomorphism between this system and the one-dimensional N-particle system discussed in the recent paper [13] and show that for the latter system an analogous superintegral can be constructed.
Keywords:
superintegrable systems, systems with a potential, Hooke center
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., New superintegrable system on a sphere, Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 4, pp. 455-462
Statistical mechanics of nonlinear dynamical systems
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 3, pp. 385-402
Abstract
pdf (896.55 Kb)
With the help of mathematical modeling, we study the behavior of a gas ($\sim10^6$ particles) in a one-dimensional tube. For this dynamical system, we consider the following cases:
— collisionless gas (with and without gravity) in a tube with both ends closed, the particles of the gas bounce elastically between the ends,
— collisionless gas in a tube with its left end vibrating harmonically in a prescribed manner,
— collisionless gas in a tube with a moving piston, the piston’s mass is comparable to the mass of a particle.
The emphasis is on the analysis of the asymptotic ($t→∞$)) behavior of the system and specifically on the transition to the state of statistical or thermal equilibrium. This analysis allows preliminary conclusions on the nature of relaxation processes.
At the end of the paper the numerical and theoretical results obtained are discussed. It should be noted that not all the results fit well the generally accepted theories and conjectures from the standard texts and modern works on the subject.
Vaskin V. V., Erdakova N. N., Mamaev I. S., Statistical mechanics of nonlinear dynamical systems, Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 3, pp. 385-402
Kinetics of collisionless gas: equalization of temperature, growth of the coarse-grained entropy and the Gibbs paradox
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 3, pp. 377-383
Abstract
pdf (208.37 Kb)
The Poincaré model for dynamics of a collisionless gas in a rectangular parallelepiped with mirror walls is considered. The question on smoothing of the density and the temperature of this gas and conditions for the monotone growth of the coarse-grained entropy are discussed. All these effects provide a new insight of the classical paradox of mixing of gases.
Kozlov V. V., Kinetics of collisionless gas: equalization of temperature, growth of the coarse-grained entropy and the Gibbs paradox, Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 3, pp. 377-383
Coupled motion of a rigid body and point vortices on a sphere
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 3, pp. 319-343
Abstract
pdf (429.33 Kb)
The paper is concerned with a class of problems which involves the dynamical interaction of a rigid body with point vortices on the surface of a two-dimensional sphere. The general approach to the 2D hydrodynamics is further developed. The problem of motion of a dynamically symmetric circular body interacting with a single vortex is shown to be integrable. Mass vortices on $S^2$ are introduced and the related issues (such as equations of motion, integrability, partial solutions, etc.) are discussed. This paper is a natural progression of the author’s previous research on interaction of rigid bodies and point vortices in a plane.
Keywords:
hydrodynamics on a sphere, coupled body-vortex system, mass vortex, equations of motion, integrability
Citation:
Borisov A. V., Mamaev I. S., Ramodanov S. M., Coupled motion of a rigid body and point vortices on a sphere, Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 3, pp. 319-343
Isomorphisms of geodesic flows on quadrics
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 2, pp. 145-158
Abstract
pdf (532.83 Kb)
We consider several well-known isomorphisms between Jacobi’s geodesic problem and some integrable cases from rigid body dynamics (the cases of Clebsch and Brun). A relationship between these isomorphisms is indicated. The problem of compactification for geodesic flows on noncompact surfaces is stated. This problem is hypothesized to be intimately connected with the property of integrability.
The Jacobi problem on a plane
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 1, pp. 83-86
Abstract
pdf (137.41 Kb)
3-particle systems with a particle-interaction homogeneous potential of degree $α=-2$ is considered. A constructive procedure of reduction of the system by 2 degrees of freedom is performed. The nonintegrability of the systems is shown using the Poincare mapping.
Multiparticle Systems. The Algebra of Integrals and Integrable Cases
Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 1, pp. 53-82
Abstract
pdf (508.81 Kb)
Systems of material points interacting both with one another and with an external field are considered in Euclidean space. For the case of arbitrary binary interaction depending solely on the mutual distance between the bodies, new integrals are found, which form a Galilean momentum vector.
A corresponding algebra of integrals constituted by the integrals of momentum, angular momentum, and Galilean momentum is presented. Particle systems with a particle-interaction potential homogeneous of degree $α=-2$ are considered. The most general form of the additional integral of motion, which we term the Jacobi integral, is presented for such systems. A new nonlinear algebra of integrals including the Jacobi integral is found. A systematic description is given to a new reduction procedure and possibilities of applying it to dynamics with the aim of lowering the order of Hamiltonian systems.
Some new integrable and superintegrable systems generalizing the classical ones are also described. Certain generalizations of the Lagrangian identity for systems with a particle-interaction potential homogeneous of degree $α=-2$ are presented. In addition, computational experiments are used to prove the nonintegrability of the Jacobi problem on a plane.
Keywords:
multiparticle systems, Jacobi integral
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Multiparticle Systems. The Algebra of Integrals and Integrable Cases, Russian Journal of Nonlinear Dynamics, 2009, vol. 5, no. 1, pp. 53-82
Generalized model of kinetics of formation of a new phase
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2009, no. 2, pp. 110-117
Abstract
pdf (724.17 Kb)
The generalized model of formation of a new phase is considered. The basic stages of process of growth are gathered in a model at phase transition of the first sort. The numerical solution of the kinetic equation of Fokker–Planck is received. Dependence of the solution on parametres of system is investigated. Areas of applicability of assumptions made by Zeldovich, Lifshits and Slezov are revealed. Also it is shown, that depending on parametres of system it is possible to reserve both equilibrium distribution, and automodelling distribution of Lifshits–Slezov. At some values of parametres the equation has the oscillatory solution.
Keywords:
Generalized model of kinetics of formation of a new phase
Citation:
Ivanova T. B., Vaskin V. V., Generalized model of kinetics of formation of a new phase, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2009, no. 2, pp. 110-117
Asymptotic expansions of solutions of strongly nonlinear systems of differential equations
Moscow–Izhevsk: Regular and Chaotic Dynamics, Institute of Computer Science, 2009, 312 pp.
Abstract
Citation:
Kozlov V. V., Furta S. D., Asymptotic expansions of solutions of strongly nonlinear systems of differential equations, Moscow–Izhevsk: Regular and Chaotic Dynamics, Institute of Computer Science, 2009, 312 pp.
The Clebsch System. Separation of Variables and Explicit Integration?
Izhevsk: Regular and Chaotic Dynamics, 2009, 288 pp.
Abstract
pdf (1.68 Mb)
This book is a collection of the main classical works concerned with the Clebsch problem and related integrable systems. These papers, written by outstanding mathematicians of XIX centry, had a substantial influence on the development of many fields of modern mathematics and physics. The study of the Clebsch case and equivalent systems is far from completion, therefore, this problem remains one of the central in the theory of integrable systems.
The book addresses researchers, undergraduate and graduate students interested in theoretical mechanics, mathematical physics and the history of science.
Citation:
Borisov A. V., Tsiganov A. V., The Clebsch System. Separation of Variables and Explicit Integration?, Izhevsk: Regular and Chaotic Dynamics, 2009, 288 pp.
Explicit integration of one problem in nonholonomic mechanics
Doklady Physics, 2008, vol. 53, no. 10, pp. 525-528
Abstract
pdf (229.05 Kb)
Citation:
Borisov A. V., Mamaev I. S., Marikhin V. G., Explicit integration of one problem in nonholonomic mechanics, Doklady Physics, 2008, vol. 53, no. 10, pp. 525-528
Gyroscopic stabilization of degenerate equilibria and the topology of real algebraic varieties
Doklady Mathematics, 2008, vol. 77, no. 3, pp. 412–415
Abstract
Citation:
Kozlov V. V., Gyroscopic stabilization of degenerate equilibria and the topology of real algebraic varieties, Doklady Mathematics, 2008, vol. 77, no. 3, pp. 412–415
On the instability of equilibria of conservative systems under typical degenerations
Differential Equations, 2008, vol. 44, no. 8, pp. 1064–1071
Abstract
We study systems of differential equations admitting first integrals with degenerate critical points. We find conditions for the instability of equilibria for the cases in which the first integral loses the minimum property. Results of general nature are used in the proof of the impossibility of gyroscopic stabilization of equilibria in conservative mechanical systems under simple typical bifurcations.
Citation:
Kozlov V. V., On the instability of equilibria of conservative systems under typical degenerations, Differential Equations, 2008, vol. 44, no. 8, pp. 1064–1071
Topology of Real Algebraic Curves
Functional Analysis and Its Applications, 2008, vol. 42, no. 2, pp. 98–102
Abstract
pdf (117.67 Kb)
The problem on the existence of an additional first integral of the equations of geodesics on noncompact algebraic surfaces is considered. This problem was discussed as early as by Riemann and Darboux. We indicate coarse obstructions to integrability, which are related to the topology of the real algebraic curve obtained as the line of intersection of such a surface with a sphere of large radius. Some yet unsolved problems are discussed.
Keywords:
geodesic flow, analytic first integral, geodesic convexity, M-curve
Citation:
Kozlov V. V., Topology of Real Algebraic Curves, Functional Analysis and Its Applications, 2008, vol. 42, no. 2, pp. 98–102
Chaplygin ball over a fixed sphere: an explicit integration
Regular and Chaotic Dynamics, 2008, vol. 13, no. 6, pp. 557-571
Abstract
pdf (282.96 Kb)
We consider a nonholonomic system describing the rolling of a dynamically nonsymmetric sphere over a fixed sphere without slipping. The system generalizes the classical nonholonomic Chaplygin sphere problem and it is shown to be integrable for one special ratio of radii of the spheres. After a time reparameterization the system becomes a Hamiltonian one and admits a separation of variables and reduction to Abel–Jacobi quadratures. The separating variables that we found appear to be a non-trivial generalization of ellipsoidal (spheroconic) coordinates on the Poisson sphere, which can be useful in other integrable problems.
Using the quadratures we also perform an explicit integration of the problem in theta-functions of the new time.
Borisov A. V., Fedorov Y. N., Mamaev I. S., Chaplygin ball over a fixed sphere: an explicit integration, Regular and Chaotic Dynamics, 2008, vol. 13, no. 6, pp. 557-571
Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems
Regular and Chaotic Dynamics, 2008, vol. 13, no. 5, pp. 443-490
Abstract
pdf (508.23 Kb)
This paper can be regarded as a continuation of our previous work [1, 2] on the hierarchy of the dynamical behavior of nonholonomic systems. We consider different mechanical systems with nonholonomic constraints; in particular, we examine the existence of tensor invariants (laws of conservation) and their connection with the behavior of a system. Considerable attention is given to the possibility of conformally Hamiltonian representation of the equations of motion, which is mainly used for the integration of the considered systems.
Keywords:
nonholonomic systems, implementation of constraints, conservation laws, hierarchy of dynamics, explicit integration
Citation:
Borisov A. V., Mamaev I. S., Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems , Regular and Chaotic Dynamics, 2008, vol. 13, no. 5, pp. 443-490
Gauss Principle and Realization of Constraints
Regular and Chaotic Dynamics, 2008, vol. 13, no. 5, pp. 431-434
Abstract
pdf (144.15 Kb)
The paper generalizes the classical Gauss principle for non-constrained dynamical systems. For large anisotropic external forces of viscous friction our statement transforms into the common Gauss principle for systems with constraints.
Stability of Steady Rotations in the Nonholonomic Routh Problem
Regular and Chaotic Dynamics, 2008, vol. 13, no. 4, pp. 239-249
Abstract
pdf (392.42 Kb)
We have discovered a new first integral in the problem of motion of a dynamically symmetric ball, subject to gravity, on the surface of a paraboloid. Using this integral, we have obtained conditions for stability (in the Lyapunov sense) of steady rotations of the ball at the upmost, downmost and saddle point.
Borisov A. V., Kilin A. A., Mamaev I. S., Stability of Steady Rotations in the Nonholonomic Routh Problem, Regular and Chaotic Dynamics, 2008, vol. 13, no. 4, pp. 239-249
Chaos in a Restricted Problem of Rotation of a Rigid Body with a Fixed Point
Regular and Chaotic Dynamics, 2008, vol. 13, no. 3, pp. 221-233
Abstract
pdf (491.62 Kb)
In this paper, we consider the transition to chaos in the phase portrait of a restricted problem of rotation of a rigid body with a fixed point. Two interrelated mechanisms responsible for chaotization are indicated: (1) the growth of the homoclinic structure and (2) the development of cascades of period doubling bifurcations. On the zero level of the area integral, an adiabatic behavior of the system (as the energy tends to zero) is noted. Meander tori induced by the break of the torsion property of the mapping are found.
Keywords:
motion of a rigid body, phase portrait, mechanism of chaotization, bifurcations
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Chaos in a Restricted Problem of Rotation of a Rigid Body with a Fixed Point, Regular and Chaotic Dynamics, 2008, vol. 13, no. 3, pp. 221-233
Absolute and Relative Choreographies in Rigid Body Dynamics
Regular and Chaotic Dynamics, 2008, vol. 13, no. 3, pp. 204-220
Abstract
pdf (447.19 Kb)
For the classical problem of motion of a rigid body about a fixed point with zero area integral, we present a family of solutions that are periodic in the absolute space. Such solutions are known as choreographies. The family includes the well-known Delone solutions (for the Kovalevskaya case), some particular solutions for the Goryachev–Chaplygin case, and the Steklov solution. The "genealogy" of solutions of the family naturally appearing from the energy continuation and their connection with the Staude rotations are considered. It is shown that if the integral of areas is zero, the solutions are periodic with respect to a coordinate frame that rotates uniformly about the vertical (relative choreographies).
Keywords:
rigid-body dynamics, periodic solutions, continuation by a parameter, bifurcation
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Absolute and Relative Choreographies in Rigid Body Dynamics, Regular and Chaotic Dynamics, 2008, vol. 13, no. 3, pp. 204-220
Gibbs Ensembles, Equidistribution of the Energy of Sympathetic Oscillators and Statistical Models of Thermostat
Regular and Chaotic Dynamics, 2008, vol. 13, no. 3, pp. 141-154
Abstract
pdf (192.61 Kb)
The paper develops an approach to the proof of the "zeroth" law of thermodynamics. The approach is based on the analysis of weak limits of solutions to the Liouville equation as time grows infinitely. A class of linear oscillating systems is indicated for which the average energy becomes eventually uniformly distributed among the degrees of freedom for any initial probability density functions. An example of such systems are sympathetic pendulums. Conditions are found for nonlinear Hamiltonian systems with finite number of degrees of freedom to converge in a weak sense to the state where the mean energies of the interacting subsystems are the same. Some issues related to statistical models of the thermostat are discussed.
Kozlov V. V., Gibbs Ensembles, Equidistribution of the Energy of Sympathetic Oscillators and Statistical Models of Thermostat, Regular and Chaotic Dynamics, 2008, vol. 13, no. 3, pp. 141-154
Lagrange’s Identity and Its Generalizations
Regular and Chaotic Dynamics, 2008, vol. 13, no. 2, pp. 71-80
Abstract
pdf (144.77 Kb)
The famous Lagrange identity expresses the second derivative of the moment of inertia of a system of material points through the kinetic energy and homogeneous potential energy. The paper presents various extensions of this brilliant result to the case 1) of constrained mechanical systems, 2) when the potential energy is quasi-homogeneous in coordinates and 3) of continuum of interacting particles governed by the well-known Vlasov kinetic equation.
E. Zermelo Habilitationsschrift on the vortex hydrodynamics on a sphere
Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 4, pp. 497-513
Abstract
pdf (286.99 Kb)
Citation:
Borisov A. V., Gazizullina L., Ramodanov S. M., E. Zermelo Habilitationsschrift on the vortex hydrodynamics on a sphere, Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 4, pp. 497-513
Algebraic reduction of systems on two- and three-dimensional spheres
Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 4, pp. 407-416
Abstract
pdf (180.6 Kb)
The paper develops further the algebraic-reduction method for $SO(4)$-symmetric systems on the three-dimensional sphere. Canonical variables for the reduced system are constructed both on two-dimensional and three-dimensional spheres. The method is illustrated by applying it to the two-body problem on a sphere (the bodies are assumed to interact with a potential that depends only on the geodesic distance between them) and the three-vortex problem on a two-dimensional sphere.
Borisov A. V., Mamaev I. S., Ramodanov S. M., Algebraic reduction of systems on two- and three-dimensional spheres, Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 4, pp. 407-416
Hamiltonian Dynamics of Liquid and Gas Self-Gravitating Ellipsoids
Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 4, pp. 363-406
Abstract
pdf (994.54 Kb)
The paper contains the review and original results on the dynamics of liquid and gas self-gravitating ellipsoids. Equations of motion are given in Lagrangian and Hamiltonian form, in particular, the Hamiltonian formalism on Lie algebras is presented. Problems of nonintegrability and chaotical behavior of the system are formulated and studied. We also classify all known integrable cases and give some hypotheses about nonintegrability in the general case. Results of numerical modelling are presented, which can be considered as a computer proof of nonintegrability.
Keywords:
liquid and gas self-gravitating ellipsoids, integrability, chaotic behavior
Citation:
Borisov A. V., Mamaev I. S., Kilin A. A., Hamiltonian Dynamics of Liquid and Gas Self-Gravitating Ellipsoids, Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 4, pp. 363-406
Gauss Principle and Realization of Constraints
Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 3, pp. 281-285
Abstract
pdf (78.44 Kb)
The paper generalizes the classical Gauss principle for non-constrained dynamical systems. For large anisotropic external forces of viscous friction our statement transforms into the common Gauss principle for systems with constraints.
Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems
Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 3, pp. 223-280
Abstract
pdf (634.39 Kb)
This paper can be regarded as a continuation of our previous work [70,71] on the hierarchy of the dynamical behavior of nonholonomic systems. We consider different mechanical systems with nonholonomic constraints; in particular, we examine the existence of tensor invariants (laws of conservation) and their connection with the behavior of a system. Considerable attention is given to the possibility of conformally Hamiltonian representation of the equations of motion, which is mainly used for the integration of the considered systems.
Keywords:
nonholonomic systems, implementation of constraints, conservation laws, hierarchy of dynamics, explicit integration
Citation:
Borisov A. V., Mamaev I. S., Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems, Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 3, pp. 223-280
Lagrange’s identity and its generalizations
Russian Journal of Nonlinear Dynamics, 2008, vol. 4, no. 2, pp. 157-168
Abstract
pdf (128.42 Kb)
The famous Lagrange identity expresses the second derivative of the moment of inertia of a system of material points through the kinetic energy and homogeneous potential energy. The paper presents various extensions of this brilliant result to the case 1) of constrained mechanical systems, 2) when the potential energy is quasi-homogeneous in coordinates and 3) of continuumof interacting particles governed by the well-known Vlasov kinetic equation.
Generalization of Lagrange’s identity and new integrals of motion
Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2008, no. 3, pp. 69-74
Abstract
pdf (154.14 Kb)
We discuss system of material points in Euclidean space interacting both with each other and with external field. In particular we consider systems of particles whose interacting is described by homogeneous potential of degree of homogeneity $\alpha=-2$. Such systems were first considered by Newton and—more systematically—by Jacobi). For such systems there is an extra hidden symmetry, and corresponding first integral of motion which we call Jacobi integral. This integral was given in different papers starting with Jacobi, but we present in general. Furthermore, we construct a new algebra of integrals including Jacobi integral. A series of generalizations of Lagrange's identity for systems with homogeneous potential of degree of homogeneity $\alpha=-2$ is given. New integrals of motion for these generalizations are found.
Keywords:
Lagrange’s identity, many-particle system, first integral, integrability, algebra of integrals
Citation:
Kilin A. A., Generalization of Lagrange’s identity and new integrals of motion, Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, 2008, no. 3, pp. 69-74
Dynamics of Two Rings of Vortices on a Sphere
in IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence, Springer, 2008, vol. 6, pp. 445–458
Abstract
pdf (7.9 Mb)
The motion of two vortex rings on a sphere is considered. This motion generalizes the well-known centrally symmetrical solution of the equations of point vortex dynamics on a plane derived by D.N. Goryachev, N.S. Vasiliev and H. Aref. The equations of motion in this case are shown to be Liouville integrable, and an explicit reduction to a Hamiltonian system with one degree of freedom is described. Two particular cases in which the solutions are periodical are presented. Explicit quadratures are given for these solutions. Phase portraits are described and bifurcation diagrams are shown for centrally symmetrical motion of four vortices on a sphere.
Keywords:
Vortices, Hamiltonian, motion on a sphere, phase portrait
Citation:
Borisov A. V., Mamaev I. S., Dynamics of Two Rings of Vortices on a Sphere, in IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence, Springer, 2008, vol. 6, pp. 445–458
A New Integrable Problem of Motion of Point Vortices on the Sphere
in IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence, Springer, 2008, vol. 6, pp. 39–53
Abstract
pdf (10.34 Mb)
The dynamics of an antipodal vortex on a sphere (a point vortex plus its antipode with opposite circulation) is considered. It is shown that the system of n antipodal vortices can be reduced by four dimensions (two degrees of freedom). The cases $n = 2, 3$ are explored in greater detail both analytically and numerically. We discuss Thomson, collinear and isosceles configurations of antipodal vortices and study their bifurcations.
Keywords:
Hydrodynamics, ideal fluid, vortex dynamics, point vortex, reduction, bifurcation analysis
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., A New Integrable Problem of Motion of Point Vortices on the Sphere, in IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence, Springer, 2008, vol. 6, pp. 39–53
Fine-grained and coarse-grained entropy in problems of statistical mechanics
Theoretical and Mathematical Physics, 2007, vol. 151, no. 1, pp. 539–555
Abstract
pdf (502.32 Kb)
We consider dynamical systems with a phase space Γ that preserve a measure μ. A partition of Γ into parts of finite μ-measure generates the coarse-grained entropy, a functional that is defined on the space of probability measures on Γ and generalizes the usual (ordinary or fine-grained) Gibbs entropy. We study the approximation properties of the coarse-grained entropy under refinement of the partition and also the properties of the coarse-grained entropy as a function of time.
Kozlov V. V., Treschev D. V., Fine-grained and coarse-grained entropy in problems of statistical mechanics, Theoretical and Mathematical Physics, 2007, vol. 151, no. 1, pp. 539–555
Euler and mathematical methods in mechanics (on the 300th anniversary of the birth of Leonhard Euler)
Russian Mathematical Surveys, 2007, vol. 62, no. 4, pp. 639–661
Abstract
pdf (425.6 Kb)
This article concerns the life of Leonhard Euler and his achievements in theoretical mechanics. A number of topics are discussed related to the development of Euler’s ideas and methods: divergent series and asymptotics of solutions of non-linear differential equations; the hydrodynamics of a perfect fluid and Hamiltonian systems; vortex theory for systems on Lie groups with left-invariant kinetic energy; energy criteria of stability; Euler’s problem of two gravitating centres in curved spaces.
Citation:
Kozlov V. V., Euler and mathematical methods in mechanics (on the 300th anniversary of the birth of Leonhard Euler), Russian Mathematical Surveys, 2007, vol. 62, no. 4, pp. 639–661
Isomorphism and Hamilton representation of some nonholonomic systems
Siberian Mathematical Journal, 2007, vol. 48, no. 1, pp. 26-36
Abstract
pdf (154.1 Kb)
We consider some questions connected with the Hamiltonian form of two problems of nonholonomic mechanics, namely the Chaplygin ball problem and the Veselova problem. For these problems we find representations in the form of the generalized Chaplygin systems that can be integrated by the reducing multiplier method. We give a concrete algebraic form of the Poisson brackets which, together with an appropriate change of time, enable us to write down the equations of motion of the problems under study. Some generalization of these problems are considered and new ways of implementation of nonholonomic constraints are proposed. We list a series of nonholonomic systems possessing an invariant measure and sufficiently many first integrals for which the question about the Hamiltonian form remains open even after change of time. We prove a theorem on isomorphism of the dynamics of the Chaplygin ball and the motion of a body in a fluid in the Clebsch case.
Borisov A. V., Mamaev I. S., Isomorphism and Hamilton representation of some nonholonomic systems, Siberian Mathematical Journal, 2007, vol. 48, no. 1, pp. 26-36
Asymptotic stability and associated problems of dynamics of falling rigid body
Regular and Chaotic Dynamics, 2007, vol. 12, no. 5, pp. 531-565
Abstract
pdf (1.81 Mb)
We consider two problems from the rigid body dynamics and use new methods of stability and asymptotic behavior analysis for their solution. The first problem deals with motion of a rigid body in an unbounded volume of ideal fluid with zero vorticity. The second problem, having similar asymptotic behavior, is concerned with motion of a sleigh on an inclined plane. The equations of motion for the second problem are non-holonomic and exhibit some new features not typical for Hamiltonian systems. A comprehensive survey of references is given and new problems connected with falling motion of heavy bodies in fluid are proposed.
Keywords:
rigid body, ideal fluid, non-holonomic mechanics
Citation:
Borisov A. V., Kozlov V. V., Mamaev I. S., Asymptotic stability and associated problems of dynamics of falling rigid body, Regular and Chaotic Dynamics, 2007, vol. 12, no. 5, pp. 531-565
Rolling of a Non-homogeneous Ball Over a Sphere Without Slipping and Twisting
Regular and Chaotic Dynamics, 2007, vol. 12, no. 2, pp. 153-159
Abstract
pdf (189.47 Kb)
Consider the problem of rolling a dynamically asymmetric balanced ball (the Chaplygin ball) over a sphere. Suppose that the contact point has zero velocity and the projection of the angular velocity to the normal vector of the sphere equals zero. This model of rolling differs from the classical one. It can be realized, in some approximation, if the ball is rubber coated and the sphere is absolutely rough. Recently, J. Koiller and K. Ehlers pointed out the measure and the Hamiltonian structure for this problem. Using this structure we construct an isomorphism between this problem and the problem of the motion of a point on a sphere in some potential field. The integrable cases are found.
Borisov A. V., Mamaev I. S., Rolling of a Non-homogeneous Ball Over a Sphere Without Slipping and Twisting, Regular and Chaotic Dynamics, 2007, vol. 12, no. 2, pp. 153-159
Interaction between Kirchhoff vortices and point vortices in an ideal fluid
Regular and Chaotic Dynamics, 2007, vol. 12, no. 1, pp. 68-80
Abstract
pdf (358.32 Kb)
We consider the interaction of two vortex patches (elliptic Kirchhoff vortices) which move in an unbounded volume of an ideal incompressible fluid. A moment second-order model is used to describe the interaction. The case of integrability of a Kirchhoff vortex and a point vortex is qualitatively analyzed. A new case of integrability of two Kirchhoff vortices is found by the variable separation method . A reduced form of equations for two Kirchhoff vortices is proposed and used to analyze their regular and chaotic behavior.
Keywords:
vortex patch, point vortex, integrability
Citation:
Borisov A. V., Mamaev I. S., Interaction between Kirchhoff vortices and point vortices in an ideal fluid, Regular and Chaotic Dynamics, 2007, vol. 12, no. 1, pp. 68-80
Motion of two spheres in ideal fluid. I. Equations o motions in the Euclidean space. First integrals and reduction
Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 4, pp. 411-422
Abstract
pdf (182.63 Kb)
The paper deals with the derivation of the equations of motion for two spheres in an unbounded volume of ideal and incompressible fluid in 3D Euclidean space. Reduction of order, based on the use of new variables that form a Lie algebra, is offered. A trivial case of integrability is indicated.
Keywords:
motion of two spheres, ideal fluid, reduction, integrability
Citation:
Borisov A. V., Mamaev I. S., Ramodanov S. M., Motion of two spheres in ideal fluid. I. Equations o motions in the Euclidean space. First integrals and reduction, Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 4, pp. 411-422
Asymptotic stability and associated problems of dynamics of falling rigid body
Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 3, pp. 255-296
Abstract
pdf (1.62 Mb)
We consider two problems from the rigid body dynamics and use new methods of stability and asymptotic behavior analysis for their solution. The first problem deals with motion of a rigid body in an unbounded volume of ideal fluid with zero vorticity. The second problem, having similar asymptotic behavior, is concerned with motion of a sleigh on an inclined plane. The equations of motion for the second problem are non-holonomic and exhibit some new features not typical for Hamiltonian systems. A comprehensive survey of references is given and new problems connected with falling motion of heavy bodies in fluid are proposed.
Keywords:
nonholonomic mechanics, rigid body, ideal fluid, resisting medium
Citation:
Borisov A. V., Kozlov V. V., Mamaev I. S., Asymptotic stability and associated problems of dynamics of falling rigid body, Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 3, pp. 255-296
A New Integrable Problem of Motion of Point Vortices on the Sphere
Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 2, pp. 211-223
Abstract
pdf (298.41 Kb)
The dynamics of an antipodal vortex on a sphere (a point vortex plus its antipode with opposite circulation) is considered. It is shown that the system of n antipodal vortices can be reduced by four dimensions (two degrees of freedom). The cases n=2,3 are explored in greater detail both analytically and numerically. We discuss Thomson, collinear and isosceles configurations of antipodal vortices and study their bifurcations.
Keywords:
hydrodynamics, ideal fluid, vortex dynamics, point vortex, reduction, bifurcation analysis
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., A New Integrable Problem of Motion of Point Vortices on the Sphere, Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 2, pp. 211-223
Gibbs Ensembles, Equidistribution of the Energy of Sympathetic Oscillators and Statistical Models of Thermostat
Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 2, pp. 123-140
Abstract
pdf (263.66 Kb)
The paper develops an approach to the proof of the «zeroth» law of thermodynamics. The approach is based on the analysis of weak limits of solutions to the Liouville equation as time grows infinitely. A class of linear oscillating systems is indicated for which the average energy becomes eventually uniformly distributed among the degrees of freedom for any initial probability density functions. An example of such systems are sympathetic pendulums. Conditions are found for nonlinear Hamiltonian systems with finite number of degrees of freedom to converge in a weak sense to the state where the average energies of the interacting subsystems are the same. Some issues related to statistical models of the thermostat are discussed.
Kozlov V. V., Gibbs Ensembles, Equidistribution of the Energy of Sympathetic Oscillators and Statistical Models of Thermostat, Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 2, pp. 123-140
On isomorphisms of some integrable systems on a plane and a sphere
Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 1, pp. 49-56
Abstract
pdf (166.52 Kb)
We consider
trajectory isomorphisms between various integrable
systems on an $n$-dimensional sphere $S^n$ and a Euclidean space $R^n$.
Some of the systems are classical integrable problems of Celestial Mechanics
in plane and curved spaces. All the systems under consideration have an additional
first integral quadratic in momentum and can be integrated analytically by using
the separation of variables. We show that
some integrable problems in constant curvature spaces are not essentially new from the viewpoint of the
theory of integration, and they can be analyzed using known results of classical Celestial Mechanics.
Borisov A. V., Mamaev I. S., On isomorphisms of some integrable systems on a plane and a sphere, Russian Journal of Nonlinear Dynamics, 2007, vol. 3, no. 1, pp. 49-56
Dynamic Interaction of Point Vortices and a Two-Dimensional Cylinder
Journal of Mathematical Physics, 2007, vol. 48, no. 6, 065403, 9 pp.
Abstract
pdf (126.99 Kb)
In this paper we consider the system of an arbitrary two-dimensional cylinder interacting with point vortices in a perfect fluid. We present the equations of motion and discuss their integrability. Simulations show that the system of an elliptic cylinder (with nonzero eccentricity) and a single point vortex already exhibits chaotic features and the equations of motion are nonintegrable. We suggest a Hamiltonian form of the equations. The problem we study here, namely, the equations of motion, the Hamiltonian structure for the interacting system of a cylinder of arbitrary cross-section shape, with zero circulation around it, and $N$ vortices, has been addressed by Shashikanth [Regular Chaotic Dyn. 10, 1 (2005)]. We slightly generalize the work by Shashikanth by allowing for nonzero circulation around the cylinder and offer a different approach than that by Shashikanth by using classical complex variable theory.
Citation:
Borisov A. V., Mamaev I. S., Ramodanov S. M., Dynamic Interaction of Point Vortices and a Two-Dimensional Cylinder, Journal of Mathematical Physics, 2007, vol. 48, no. 6, 065403, 9 pp.
Relations between Integrable Systems in Plane and Curved Spaces
Celestial Mechanics and Dynamical Astronomy, 2007, vol. 99, no. 4, pp. 253–260
Abstract
pdf (151.07 Kb)
We consider trajectory isomorphisms between various integrable systems on an $n$-dimensional sphere $S^n$ and a Euclidean space $\mathbb{R}^n$. Some of the systems are classical integrable problems of Celestial Mechanics in plane and curved spaces. All the systems under consideration have an additional first integral quadratic in momentum and can be integrated analytically by using the separation of variables. We show that some integrable problems in constant curvature spaces are not essentially new from the viewpoint of the theory of integration, and they can be analyzed using known results of classical Celestial Mechanics.
Keywords:
Integrable systems, Euclidean spaces
Citation:
Borisov A. V., Mamaev I. S., Relations between Integrable Systems in Plane and Curved Spaces, Celestial Mechanics and Dynamical Astronomy, 2007, vol. 99, no. 4, pp. 253–260
Dynamics of Two Interacting Circular Cylinders in Perfect Fluid
Discrete and Continuous Dynamical Systems - Series A, 2007, vol. 19, no. 2, pp. 235-253
Abstract
pdf (350.69 Kb)
In this paper we consider the system of two 2D rigid circular cylinders immersed in an unbounded volume of inviscid perfect fluid. The circulations around the cylinders are assumed to be equal in magnitude and opposite in sign. We also explore some special cases of this system assuming that the cylinders move along the line through their centers and the circulation around each cylinder is zero. A similar system of two interacting spheres was originally considered in the classical works of Carl and Vilhelm Bjerknes, H. Lamb and N.E. Joukowski. By making the radii of the cylinders infinitesimally small, we have obtained a new mechanical system which consists of two regular point vortices but with non-zero masses. The study of this system can be reduced to the study of the motion of a particle subject to potential and gyroscopic forces. A new integrable case is found. The Hamiltonian equations of motion for this system have been generalized to the case of an arbitrary number of mass vortices with arbitrary intensities. Some first integrals have been obtained. These equations expand upon the classical Kirchhoff equations of motion for n point vortices.
Borisov A. V., Mamaev I. S., Ramodanov S. M., Dynamics of Two Interacting Circular Cylinders in Perfect Fluid, Discrete and Continuous Dynamical Systems - Series A, 2007, vol. 19, no. 2, pp. 235-253
Information entropy in problems of classical and quantum statistical mechanics
Doklady Mathematics, 2006, vol. 74, no. 3, pp. 910–913
Abstract
Citation:
Kozlov V. V., Smolyanov O. G., Information entropy in problems of classical and quantum statistical mechanics, Doklady Mathematics, 2006, vol. 74, no. 3, pp. 910–913
Square integrable solutions to the Klein-Gordon equation on a manifold
Doklady Mathematics, 2006, vol. 73, no. 3, pp. 441–444
Abstract
pdf (292.17 Kb)
Citation:
Volovich I. V., Kozlov V. V., Square integrable solutions to the Klein-Gordon equation on a manifold, Doklady Mathematics, 2006, vol. 73, no. 3, pp. 441–444
New effects in dynamics of rattlebacks
Doklady Physics, 2006, vol. 408, no. 2, pp. 192-195
Abstract
pdf (214.19 Kb)
The paper considers the dynamics of a rattleback as a model of a heavy balanced ellipsoid of revolution rolling without slippage on a fixed horizontal plane. Central ellipsoid of inertia is an ellipsoid of revolution as well. In presence of the angular displacement between two ellipsoids, there occur dynamical effects somewhat similar to the reverse fenomena in earlier models. However, unlike a customary rattleback model (a truncated biaxial paraboloid) our system allows the motions which are superposition of the reverse motion (reverse of the direction of spinning) and the turn over (change of the axis of rotation). With appropriate values of energies and mass distribution, this effect (reverse + turn over) can occur more than once. Such motions as repeated reverse or repeated turn over are also possible.
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., New effects in dynamics of rattlebacks, Doklady Physics, 2006, vol. 408, no. 2, pp. 192-195
Transition to chaos in dynamics of four point vortices on a plane
Doklady Physics, 2006, vol. 51, no. 5, pp. 262-267
Abstract
pdf (249.72 Kb)
The paper considers the process of transition to chaos in the problem of four point vortices on a plane. A new method for constructive reduction of the order for a system of vortices on a plane is presented. Existence of the cascade of period doubling bifurcations in the given problem is indicated.
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Transition to chaos in dynamics of four point vortices on a plane, Doklady Physics, 2006, vol. 51, no. 5, pp. 262-267
Motion of Chaplygin ball on an inclined plane
Doklady Physics, 2006, vol. 51, no. 2, pp. 73-76
Abstract
pdf (212.42 Kb)
The rolling motion of a dynamically nonsymmetric balanced ball (Chaplygin ball) on an inclined plane is studied. For the case of a horizontal plane, Chaplygin demonstrated this problem to be integrable. For a nonzero slope, the system is integrable only if the motion starts from a state of rest (E.N. Kharlamova). It is shown that, in the general case, the system exhibits a rather simple asymptotic behavior.
Citation:
Borisov A. V., Mamaev I. S., Motion of Chaplygin ball on an inclined plane, Doklady Physics, 2006, vol. 51, no. 2, pp. 73-76
An Integrable System with a Nonintegrable Constraint
Mathematical Notes, 2006, vol. 80, no. 1, pp. 127-130
Abstract
pdf (98.56 Kb)
The paper considers a general case of rolling motion of a rigid body with sharp edge on an icy sphere in a field of gravity. Cases of integrability are indicated and probability of a body fall is analyzed.
On a Nonholonomic Dynamical Problem
Mathematical Notes, 2006, vol. 79, no. 5, pp. 734-740
Abstract
pdf (189.22 Kb)
Rolling (without slipping) of a homogeneous ball on an oblique cylinder in different potential fields and the integrability of the equations of motion are considered. We examine also if the equations can be reduced to a Hamiltonian form. We prove the theorem stated that if there is a gravity (and the cylinder is oblique), the ball moves without any vertical shift, on the average.
Keywords:
nonholonomic dynamics, rolling motion without slipping, nonholonomic constraints, quasiperiodic oscillations
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., On a Nonholonomic Dynamical Problem, Mathematical Notes, 2006, vol. 79, no. 5, pp. 734-740
Wigner function and diffusion in collisionfree media of quantum particles
Theory of Probability and its Applications, 2006, vol. 51, no. 1, pp. 168–181
Abstract
pdf (952.66 Kb)
A quantum Poincaré model (realizing behavior of ideal gas of noninteracting quantum Bolztman particles) is introduced. We use the fact that the evolution of the Wigner function corresponding to a quantum system with a quadratic Hamiltonian coincides with the evolution of a probability distribution on a phase space of the Hamiltonian system, the quantization of which gives the quantum system under consideration.
Kozlov V. V., Smolyanov O. G., Wigner function and diffusion in collisionfree media of quantum particles, Theory of Probability and its Applications, 2006, vol. 51, no. 1, pp. 168–181
On the fall of a heavy rigid body in an ideal fluid
Proceedings of the Steklov Institute of Mathematics, 2006, vol. 12, no. 1, pp. S24-S47
Abstract
pdf (1.06 Mb)
We consider a problem about the motion of a heavy rigid body in an unbounded volume of an ideal irrotational incompressible uid. This problem generalizes a classical Kirchhoff problem describing the inertial motion of a rigid body in a uid. We study dfferent special statements of the problem: the plane motion and the motion of an axially symmetric body. In the general case of motion of a rigid body, we study the stability of partial solutions and point out limiting behaviors of the motion when the time increases innitely. Using numerical computations on the plane of initial conditions, we construct domains corresponding to different types of the asymptotic behavior. We establish the fractal nature of the boundary separating these domains.
Citation:
Borisov A. V., Kozlov V. V., Mamaev I. S., On the fall of a heavy rigid body in an ideal fluid, Proceedings of the Steklov Institute of Mathematics, 2006, vol. 12, no. 1, pp. S24-S47
On the problem of motion of vortex sources on a plane
Regular and Chaotic Dynamics, 2006, vol. 11, no. 4, pp. 455-466
Abstract
pdf (377.53 Kb)
Equations of motion of vortex sources (examined earlier by Fridman and Polubarinova) are studied, and the problems of their being Hamiltonian and integrable are discussed. A system of two vortex sources and three sources-sinks was examined. Their behavior was found to be regular. Qualitative analysis of this system was made, and the class of Liouville integrable systems is considered. Particular solutions analogous to the homothetic configurations in celestial mechanics are given.
Keywords:
vortex sources, integrability, Hamiltonian, point vortex
Citation:
Borisov A. V., Mamaev I. S., On the problem of motion of vortex sources on a plane , Regular and Chaotic Dynamics, 2006, vol. 11, no. 4, pp. 455-466
Rolling of a heterotgeneous ball over a sphere without sliding and spinning
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 4, pp. 445-452
Abstract
pdf (162.92 Kb)
Consider the problem of rolling a dynamically asymmetric balanced ball (the Chaplygin ball) over a sphere. Suppose that the contact point has zero velocity and the projection of the angular velocity to the normal vector of the sphere equals zero. This model of rolling differs from the classical one. It can be realized, in some approximation, if the ball is rubber coated and the sphere is absolutely rough. Recently, Koiller and Ehlers pointed out the measure and the Hamiltonian structure for this problem. Using this structure we construct an isomorphism between this problem and the problem of the motion of a point on a sphere in some potential field. The integrable cases are found.
Keywords:
Chaplygin ball, rolling model, Hamiltonian structure
Citation:
Borisov A. V., Mamaev I. S., Rolling of a heterotgeneous ball over a sphere without sliding and spinning, Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 4, pp. 445-452
Vorticity equation of 2D-hydrodynamics, Vlasov steady-state kinetic equation and developed turbulence
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 4, pp. 425-434
Abstract
pdf (152.1 Kb)
The issues discussed in this paper relate to the description of developed two-dimensional turbulence, when the mean values of characteristics of steady flow stabilize. More exactly, the problem of a weak limit of vortex distribution in two-dimensional flow of an ideal fluid at time tending to infinity is considered. Relations between the vorticity equation and the well-known Vlasov equation are discussed.
Kozlov V. V., Vorticity equation of 2D-hydrodynamics, Vlasov steady-state kinetic equation and developed turbulence, Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 4, pp. 425-434
Stability of steady rotations in the non-holonomic Routh problem
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 3, pp. 333-345
Abstract
pdf (398.23 Kb)
We have discovered a new first integral in the problem of motion of a dynamically symmetric ball, subject to gravity, on the surface of a paraboloid. Using this integral, we have obtained conditions for stability (in the Lyapunov sense) of steady rotations of the ball in the upmost, downmost and saddle point.
Borisov A. V., Kilin A. A., Mamaev I. S., Stability of steady rotations in the non-holonomic Routh problem, Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 3, pp. 333-345
Reduction in the two-body problem on the Lobatchevsky plane
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 3, pp. 279-285
Abstract
pdf (148.66 Kb)
We present a reduction-of-order procedure in the problem of motion of two bodies on the Lobatchevsky plane $H^2$. The bodies interact with a potential that depends only on the distance between the bodies (this holds for an analog of the Newtonian potential). In earlier works, this reduction procedure was used to analyze the motion of two bodies on the sphere
Keywords:
Lobatchevsky plane, first integral, reduction-of-order procedure, potential of interaction
Citation:
Borisov A. V., Mamaev I. S., Reduction in the two-body problem on the Lobatchevsky plane, Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 3, pp. 279-285
Interaction between Kirchhoff vortices and point vortices in an ideal fluid
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 2, pp. 199-213
Abstract
pdf (535.61 Kb)
We consider the interaction of two vortex patches (elliptic Kirchhoff vortices) which move in an unbounded volume of an ideal incompressible fluid. A moment second-order model is used to describe the interaction. The case of integrability of a Kirchhoff vortex and a point vortex by the variable separation method is qualitatively analyzed. A new case of integrability of two Kirchhoff vortices is found. A reduced form of equations for two Kirchhoff vortices is proposed and used to analyze their regular and chaotic behavior.
Keywords:
Kirchhoff vortices, integrability, Hamiltonian, stability, point vortex
Citation:
Borisov A. V., Mamaev I. S., Interaction between Kirchhoff vortices and point vortices in an ideal fluid, Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 2, pp. 199-213
New integral in nonholonomic Painleve-Chaplygin problem
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 2, pp. 193-198
Abstract
pdf (132.6 Kb)
In the paper we present a new integral of motion in the problem of rolling motion of a heavy symmetric sphere on the surface of a paraboloid. We use this integral to study the Lyapunov stability of some trivial steady rotations.
Dynamics of two vortex rings on a sphere
Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 2, pp. 181-192
Abstract
pdf (321.21 Kb)
The motion of two vortex rings on a sphere is considered. This motion generalizes the well-known centrally symmetrical solution of the equations of point vortex dynamics on a plane derived by D.N. Goryachev and H. Aref. The equations of motion in this case are shown to be Liouville integrable, and an explicit reduction to a Hamiltonian system with one degree of freedom is described. Two particular cases in which the solutions are periodical are presented. Explicit quadratures are given for these solutions. Phase portraits are described and bifurcation diagrams are shown for centrally symmetrical motion of four vortices on a sphere.
Keywords:
vortex, Hamiltonian, motion on a sphere, phase portrait
Citation:
Borisov A. V., Mamaev I. S., Dynamics of two vortex rings on a sphere, Russian Journal of Nonlinear Dynamics, 2006, vol. 2, no. 2, pp. 181-192
On the motion of a heavy rigid body in an ideal fluid with circulation
Chaos, 2006, vol. 16, no. 1, 013118, 7 pp.
Abstract
pdf (303.93 Kb)
We consider Chaplygin's equations [Izd. Akad. Nauk SSSR 3(3), 1933] describing the planar motion of a rigid body in an unbounded volume of an ideal fluid while circulation around the body is not zero. Hamiltonian structures and new integrable cases are revealed; certain remarkable partial solutions are found and their stability is examined. The nonintegrability of the system describing the motion of a body in the field of gravity is proved and the chaotic behavior of the system is illustrated.
Citation:
Borisov A. V., Mamaev I. S., On the motion of a heavy rigid body in an ideal fluid with circulation, Chaos, 2006, vol. 16, no. 1, 013118, 7 pp.
The restricted two-body problem in constant curvature spaces
Celestial Mechanics and Dynamical Astronomy, 2006, vol. 96, no. 1, pp. 1-17
Abstract
pdf (479.18 Kb)
The bifurcation analysis of the Kepler problem on $\mathbb{S}^3$ and $\mathbb{H}^3$ is performed. An analogue of the Delaunay variables is introduced and the motion of a point mass in the field of the Newtonian center moving along a geodesic on $\mathbb{S}^2$ and $\mathbb{H}^2$ (the restricted two-body problem) is investigated. When the curvature is small, the pericenter shift is computed using the perturbation theory. We also present the results of the numerical analysis based on the analogy with the motion of rigid body.
Borisov A. V., Mamaev I. S., The restricted two-body problem in constant curvature spaces, Celestial Mechanics and Dynamical Astronomy, 2006, vol. 96, no. 1, pp. 1-17
Proceedings of the IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence (Moscow August 25-30, 2006)
Dordrecht Springer, 2006, 512 pp.
Abstract
pdf (10.44 Mb)
This work brings together previously unpublished notes contributed by participants of the IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence held in Moscow, August 25-30, 2006. The study of vortex motion is of great interest to fluid and gas dynamics; since all real flows are vortical in nature, applications of the vortex theory are extremely diverse, many of them (e.g. aircraft dynamics, atmospheric and ocean phenomena) being especially important. The last few decades have shown that serious possibilities for progress in the research of real turbulent vortex motions are essentially related to the combined use of mathematical methods, computer simulation and laboratory experiments. These approaches have led to a series of interesting results which allow us to study these processes from new perspectives. Based on this principle, the papers collected in this proceedings volume present new results on theoretical and applied aspects and processes of formation and evolution of various flows, wave and coherent structures in gas and fluid. Much attention is given to the studies of nonlinear regular and chaotic regimes of vortex interactions, advective and convective motions. The contributors are leading scientists engaged in fundamental and applied aspects of the above mentioned fields.
Citation:
Borisov A. V., Kozlov V. V., Mamaev I. S., Proceedings of the IUTAM Symposium on Hamiltonian Dynamics, Vortex Structures, Turbulence (Moscow August 25-30, 2006), Dordrecht Springer, 2006, 512 pp.
Classification of Birkhoff-Integrable generalized Toda lattices
in "Topological Methods in the Theory of Integrable Systems", Cambridge: Cambridge Scientific Publishers Ltd., 2006, pp. 69-79
Abstract
pdf (560.25 Kb)
This paper presents the most complete classification of Birkhoff-integrable generalized Toda lattices and considers new integrable lattices.
Citation:
Borisov A. V., Mamaev I. S., Classification of Birkhoff-Integrable generalized Toda lattices, in "Topological Methods in the Theory of Integrable Systems", Cambridge: Cambridge Scientific Publishers Ltd., 2006, pp. 69-79
Finite action Klein–Gordon solutions on Lorentzian manifolds
International Journal of Geometric Methods in Modern Physics, 2006, vol. 3, no. 7, pp. 1349–1357
Abstract
pdf (163.15 Kb)
The eigenvalue problem for the square integrable solutions is studied usually for elliptic equations. In this paper we consider such a problem for the hyperbolic Klein–Gordon equation on Lorentzian manifolds. The investigation could help to answer the question why elementary particles have a discrete mass spectrum. An infinite family of square integrable solutions for the Klein–Gordon equation on the Friedman type manifolds is constructed. These solutions have a discrete mass spectrum and a finite action. In particular the solutions on de Sitter space are investigated.
Citation:
Kozlov V. V., Volovich I. V., Finite action Klein–Gordon solutions on Lorentzian manifolds, International Journal of Geometric Methods in Modern Physics, 2006, vol. 3, no. 7, pp. 1349–1357
Mathematical aspects of classical and celestial mechanics
Dynamical systems. III, Encyclopaedia Math. Sci., 3, Ed. 3, Springer-Verlag, Berlin, 2006, xiv+518 pp.
Abstract
Citation:
Arnold V. I., Kozlov V. V., Neishtadt A. I., Mathematical aspects of classical and celestial mechanics, Dynamical systems. III, Encyclopaedia Math. Sci., 3, Ed. 3, Springer-Verlag, Berlin, 2006, xiv+518 pp.
Absolute and Relative Choreographies in the Problem of the Motion of Point Vortices in a Plane
Doklady Physics, 2005, vol. 71, no. 1, pp. 139-144
Abstract
pdf (168.54 Kb)
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Absolute and Relative Choreographies in the Problem of the Motion of Point Vortices in a Plane, Doklady Physics, 2005, vol. 71, no. 1, pp. 139-144
Uniform distribution and Voronoi convergence
Sbornik: Mathematics, 2005, vol. 196, no. 10, pp. 1495–1502
Abstract
pdf (127.63 Kb)
There is a broad generalization of a uniformly distributed sequence according to Weyl where the frequency of elements of this sequence falling into an interval is defined by using a matrix summation method of a general form. In the present paper conditions for uniform distribution are found in the case where a regular Voronoi method is chosen as the summation method. The proofs are based on estimates of trigonometric sums of a certain special type. It is shown that the sequence of the fractional parts of the logarithms of positive integers is not uniformly distributed for any choice of a regular Voronoi method.
Citation:
Kozlov V. V., Madsen T., Uniform distribution and Voronoi convergence, Sbornik: Mathematics, 2005, vol. 196, no. 10, pp. 1495–1502
Weighted Means, Strict Ergodicity, and Uniform Distributions
Mathematical Notes, 2005, vol. 78, no. 3, pp. 329–337
Abstract
pdf (155.58 Kb)
We strengthen the well-known Oxtoby theorem for strictly ergodic transformations by replacing the standard Cesaro convergence by the weaker Riesz or Voronoi convergence with monotonically increasing or decreasing weight coefficients. This general result allows, in particular, to strengthen the classical Weyl theorem on the uniform distribution of fractional parts of polynomials with irrational coefficients.
The Nonexistence of an Invariant Measure for an Inhomogeneous Ellipsoid Rolling on a Plane
Mathematical Notes, 2005, vol. 77, no. 6, pp. 855-857
Abstract
pdf (74.38 Kb)
This note presents new conditions for nonexistance of an invariant measure for an inhomogeneous ellipsoid with the special mass distribution rolling on an absolutely rough plane. This work supplements results on the nonexistence of the measure in the rolling of a rattleback.
Keywords:
invariant measure, rolling ellipsoid, Liouville equation, Celtic stone
Citation:
Borisov A. V., Mamaev I. S., The Nonexistence of an Invariant Measure for an Inhomogeneous Ellipsoid Rolling on a Plane, Mathematical Notes, 2005, vol. 77, no. 6, pp. 855-857
On periodic trajectories of a billiard in a magnetic field
Journal of Applied Mathematics and Mechanics, 2005, vol. 69, no. 6, pp. 844–851
Abstract
pdf (384.03 Kb)
The problem of the existence of periodic trajectories of a charged particle in a magnetic field, when the particle moves inside a closed convex region and is elastically reflected from its boundary, is considered. The presence of an infinite number of different periodic trajectories at low magnetic field strengths is established using Poincaré's geometric theorem. The conditions for two-link trajectories to be stable in the case of a uniform magnetic field are obtained.
Citation:
Kozlov V. V., Polikarpov S. A., On periodic trajectories of a billiard in a magnetic field, Journal of Applied Mathematics and Mechanics, 2005, vol. 69, no. 6, pp. 844–851
Weighted averages, uniform distribution, and strict ergodicity
Russian Mathematical Surveys, 2005, vol. 60, no. 6, pp. 1121–1146
Abstract
pdf (293.33 Kb)
A circle of problems related to the application of the Riesz and Voronoi summation methods in ergodic theory, number theory, and probability theory is considered. The first digit paradox is discussed, strengthenings of the classical result of Weyl on the uniform distribution of the fractional parts of the values of a polynomial are indicated, and the possibility of sharpening the Birkhoff–Khinchin ergodic theorem is considered. In conclusion, some unsolved problems are listed.
Citation:
Kozlov V. V., Weighted averages, uniform distribution, and strict ergodicity, Russian Mathematical Surveys, 2005, vol. 60, no. 6, pp. 1121–1146
Remarks on a Lie theorem on the exact integrability of differential equations
Differential Equations, 2005, vol. 41, no. 4, pp. 588–590
Abstract
pdf (85.01 Kb)
Citation:
Kozlov V. V., Remarks on a Lie theorem on the exact integrability of differential equations, Differential Equations, 2005, vol. 41, no. 4, pp. 588–590
Restrictions of Quadratic Forms to Lagrangian Planes, Quadratic Matrix Equations, and Gyroscopic Stabilization
Functional Analysis and Its Applications, 2005, vol. 39, no. 4, pp. 271–283
Abstract
pdf (170.93 Kb)
We discuss the symplectic geometry of linear Hamiltonian systems with nondegenerate Hamiltonians. These systems can be reduced to linear second-order differential equations characteristic of linear oscillation theory. This reduction is related to the problem on the signatures of restrictions of quadratic forms to Lagrangian planes. We study vortex symplectic planes invariant with respect to linear Hamiltonian systems. These planes are determined by the solutions of quadratic matrix equations of a special form. New conditions for gyroscopic stabilization are found.
Kozlov V. V., Restrictions of Quadratic Forms to Lagrangian Planes, Quadratic Matrix Equations, and Gyroscopic Stabilization, Functional Analysis and Its Applications, 2005, vol. 39, no. 4, pp. 271–283
Superintegrable systems on a sphere
Regular and Chaotic Dynamics, 2005, vol. 10, no. 3, pp. 257-266
Abstract
pdf (312.81 Kb)
We consider various generalizations of the Kepler problem to three-dimensional sphere $S^3$, (a compact space of constant curvature). In particular, these generalizations include addition of a spherical analogue of the magnetic monopole (the Poincaré–Appell system) and addition of a more complicated field which is a generalization of the MICZ-system. The mentioned systems are integrable superintegrable, and there exists the vector integral which is analogous to the Laplace–Runge–Lenz vector. We offer a classification of the motions and consider a trajectory isomorphism between planar and spatial motions. The presented results can be easily extended to Lobachevsky space $L^3$.
Keywords:
spaces of constant curvature, Kepler problem, integrability
Citation:
Borisov A. V., Mamaev I. S., Superintegrable systems on a sphere , Regular and Chaotic Dynamics, 2005, vol. 10, no. 3, pp. 257-266
Reduction and chaotic behavior of point vortices on a plane and a sphere
Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 2, pp. 233-246
Abstract
pdf (473.55 Kb)
We offer a new method of reduction for a system of point vortices on a plane and a sphere. This method is similar to the classical node elimination procedure. However, as applied to the vortex dynamics, it requires substantial modification. Reduction of four vortices on a sphere is given in more detail. We also use the Poincare surface-of-section technique to perform the reduction a four-vortex system on a sphere.
Keywords:
reduction, point vortex, equations of motion, Poincare map
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Reduction and chaotic behavior of point vortices on a plane and a sphere, Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 2, pp. 233-246
Chaos in a restricted problem of rotation of a rigid body with a fixed point
Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 2, pp. 191-207
Abstract
pdf (650.7 Kb)
The paper deals with a transition to chaos in the phase-plane portrait of a restricted problem of rotation of a rigid body with a fixed point. Two interrelated mechanisms responsible for chaotisation have been indicated: 1) growth of the homoclinic structure and 2) development of cascades of period doubling bifurcations. On the zero level of the integral of areas, an adiabatic behavior of the system (as the energy tends to zero) has been noticed. Meander tori induced by the breakdown of the torsion property of the mapping have been found.
Keywords:
motion of a rigid body, phase-plane portrait, mechanism of chaotisation, bifurcations
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Chaos in a restricted problem of rotation of a rigid body with a fixed point, Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 2, pp. 191-207
Absolute and relative choreographies in rigid body dynamics
Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 1, pp. 123-141
Abstract
pdf (401.63 Kb)
For the classical problem of motion of a rigid body about a fixed point with zero integral of areas, the paper presents a family of solutions which are periodic in the absolute space. Such solutions are known as choreographies. The family includes the famous Delaunay solution in the case of Kovalevskaya, some particular solutions in the Goryachev-Chaplygin case and Steklov’s solution. The «genealogy» of the solutions of the family, arising naturally from the energy continuation, and their connection with the Staude rotations are considered.
It is shown that if the integral of areas is zero, the solutions are periodic but with respect to a coordinate frame that rotates uniformly about the vertical (relative choreographies).
Keywords:
rigid body dynamics, periodic solutions, continuation by a parameter, bifurcation
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Absolute and relative choreographies in rigid body dynamics, Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 1, pp. 123-141
Interaction of two circular cylinders in a perfect fluid
Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 1, pp. 3-21
Abstract
pdf (401.14 Kb)
In this paper we consider the system of two 2D rigid circular cylinders immersed in an unbounded volume of inviscid perfect fluid. The circulations around the cylinders are assumed to be equal in magnitude and opposite in sign. Special cases of this system (the cylinders move along the line through their centers and the circulation around each cylinder is zero) are considered. A similar system of two interacting spheres was originally considered in classical works of Carl and Vilhelm Bjerknes, G. Lamb and N.E. Joukowski.
By making the radii of the cylinders infinitesimally small, we have obtained a new mechanical system which consists of two regular point vortices but with non-zero masses. The study of this system can be reduced to the study of the motion of a particle subject to potential and gyroscopic forces. A new integrable case is found. The Hamiltonian equations of motion for this system have been generalized to the case of an arbitrary number of mass vortices with arbitrary intensities. Some first integrals have been obtained. These equations expand upon the classical Kirchhoff equations of motion for n point vortices.
Borisov A. V., Mamaev I. S., Ramodanov S. M., Interaction of two circular cylinders in a perfect fluid, Russian Journal of Nonlinear Dynamics, 2005, vol. 1, no. 1, pp. 3-21
Rigid body dynamics. Hamiltonian methods, integrability, chaos
Moscow–Izhevsk: Institute of Computer Science, 2005, 576 pp.
Abstract
pdf (21.11 Mb)
In this book we discuss the main forms of equations of motion of rigid-body systems, such as motion of rigid bodies in potential fields, in fluid (Kirchhoff equation) and rigid bodies with fluid-filled cavities. All the systems considered in the book can be described within the framework of the Hamiltonian formalism. Almost all known integrable cases and methods of explicit integration are included. Compared to the previous volume, new sections dealing with non-integrability analysis and chaos in various problems of rigid body dynamics are added. Computer-based visualization of motion is widely used. Some results are obtained by the authors.
Citation:
Borisov A. V., Mamaev I. S., Rigid body dynamics. Hamiltonian methods, integrability, chaos, Moscow–Izhevsk: Institute of Computer Science, 2005, 576 pp.
Mathematical methods in the dynamics of vortex structures
Moscow–Izhevsk: Institute of Computer Science, 2005, 368 pp.
Abstract
pdf (7.6 Mb)
The book describes the main mathematical methods of investigation of vortex structures in an ideal incompressible fluid. All the methods of analysis of integrability and non-integrable systems are based on a systematic use of the Hamiltonian formalism and qualitative analysis. Some topics discussed in the book are: motion of point vortices on a plane and a sphere, interaction of vortex patches and some fresh issues concerned with dynamical interaction between rigid bodies and vortex structures in an ideal fluid. The appendices contain some new results, obtained by the authors in cooperation with their students and colleagues.
Citation:
Borisov A. V., Mamaev I. S., Mathematical methods in the dynamics of vortex structures, Moscow–Izhevsk: Institute of Computer Science, 2005, 368 pp.
Dynamics of a circular cylinder interacting with point vortices
Discrete and Continuous Dynamical Systems - Series B, 2005, vol. 5, no. 1, pp. 35-50
Abstract
pdf (210.01 Kb)
The paper studies the system of a rigid body interacting dynamically with point vortices in a perfect fluid. For arbitrary value of vortex strengths and circulation around the cylinder the system is shown to be Hamiltonian (the corresponding Poisson bracket structure is rather complicated). We also reduced the number of degrees of freedom of the system by two using the reduction by symmetry technique and performed a thorough qualitative analysis of the integrable system of a cylinder interacting with one vortex.
Citation:
Borisov A. V., Mamaev I. S., Ramodanov S. M., Dynamics of a circular cylinder interacting with point vortices, Discrete and Continuous Dynamical Systems - Series B, 2005, vol. 5, no. 1, pp. 35-50
Generalized problem of two and four Newtonian centers
Celestial Mechanics and Dynamical Astronomy, 2005, vol. 92, no. 4, pp. 371-380
Abstract
pdf (291.25 Kb)
We consider integrable spherical analogue of the Darboux potential, which appear in the problem (and its generalizations) of the planar motion of a particle in the field of two and four fixed Newtonian centers. The obtained results can be useful when constructing a theory of motion of satellites in the field of an oblate spheroid in constant curvature spaces.
Keywords:
spherical two (and four) centers problem, Newtonian potential, sphero-conical coordinates, separation of variables
Citation:
Borisov A. V., Mamaev I. S., Generalized problem of two and four Newtonian centers, Celestial Mechanics and Dynamical Astronomy, 2005, vol. 92, no. 4, pp. 371-380
We consider some aspects of Hamiltonianicity of two problems of nonholonomic mechanics, namely, the Chaplygin's ball problem and the Veselova problem. Representations for these two problems have been found in the form of generalized Chaplygin systems, integrable with the method of reducing multiplier. We also specify the algebraic form of the Poisson brackets, with which, after appropriate time substitution, the equations of motion for the stated problems can be represented. We consider generalizations of the two stated problems and offer new realizations of nonholonomic constraints. Some nonholonomic systems are shown, which have the invariant measure and a sufcient number of rst integrals; for such systems, the question of Hamiltonianicity is still open, even after the time substitution.
Citation:
Borisov A. V., Mamaev I. S., Hamiltonization of nonholonomic systems, arXiv:nlin/0509036v1, 2005, 24 pp.
Reduction and chaotic behavior of point vortices on a plane and a sphere
Discrete and Continuous Dynamical Systems - Series B (Supplement Volume devoted to the 5th AIMS International Conference on Dynamical Systems and Differential Equations (Pomona, California, USA, June 2004)), 2005, pp. 100-109
Abstract
pdf (360.5 Kb)
We offer a new method of reduction for a system of point vortices on a plane and a sphere. This method is similar to the classical node elimination procedure. However, as applied to the vortex dynamics, it requires substantial modification. Reduction of four vortices on a sphere is given in more detail. We also use the Poincare surface-of-section technique to perform the reduction a four-vortex system on a sphere.
Keywords:
Vortex dynamics, reduction, Poincaré map, point vortices
Citation:
Borisov A. V., Kilin A. A., Mamaev I. S., Reduction and chaotic behavior of point vortices on a plane and a sphere, Discrete and Continuous Dynamical Systems - Series B (Supplement Volume devoted to the 5th AIMS International Conference on Dynamical Systems and Differential Equations (Pomona, California, USA, June 2004)), 2005, pp. 100-109
New periodic solutions for three or four identical vortices on a plane and a sphere
Discrete and Continuous Dynamical Systems - Series B (Supplement Volume devoted to the 5th AIMS International Conference on Dynamical Systems and Differential Equations (Pomona, California, USA, June 2004)), 2005, pp. 110-120
Abstract
pdf (194.7 Kb)
In this paper we describe new classes of periodic solutions for point vortices on a plane and a sphere. They correspond to similar solutions (so-called choreographies) in celestial mechanics.
Borisov A. V., Mamaev I. S., Kilin A. A., New periodic solutions for three or four identical vortices on a plane and a sphere, Discrete and Continuous Dynamical Systems - Series B (Supplement Volume devoted to the 5th AIMS International Conference on Dynamical Systems and Differential Equations (Pomona, California, USA, June 2004)), 2005, pp. 110-120
Gibbs and Poincaré statistical equilibria in systems with slowly varying parameters
Doklady Mathematics, 2004, vol. 69, no. 2, pp. 278–281
Abstract
pdf (182.91 Kb)
Citation:
Kozlov V. V., Gibbs and Poincaré statistical equilibria in systems with slowly varying parameters, Doklady Mathematics, 2004, vol. 69, no. 2, pp. 278–281
Necessary and Sufficient Conditions for the Polynomial Integrability of Generalized Toda Chains
Doklady Physics, 2004, vol. 69, no. 1, pp. 131-135
Abstract
pdf (280.72 Kb)
We present rather complete classification of the Birkhoff integrable generalized Toda lattices and consider new cases of integrable lattices.
Citation:
Borisov A. V., Mamaev I. S., Necessary and Sufficient Conditions for the Polynomial Integrability of Generalized Toda Chains, Doklady Physics, 2004, vol. 69, no. 1, pp. 131-135
Polynomial Conservation Laws in Quantum Systems
Theoretical and Mathematical Physics, 2004, vol. 140, no. 3, pp. 1283–1298
Abstract
pdf (219.79 Kb)
We consider systems with a finite number of degrees of freedom and potential energy that is a finite sum of exponentials with purely imaginary or real exponents. Such systems include the generalized Toda chains and systems with a toric configuration space. We consider the problem of describing all the quantum conservation laws, i.e. the differential operators that are polynomial in the derivatives and commute with the Hamiltonian operator. We prove that in the case where the potential energy spectrum is invariant under reflection with respect to the origin, such nontrivial operators exist only if the system under consideration decomposes into a direct sum of decoupled subsystems. In the general case (without the spectrum symmetry assumption), we prove that the existence of a complete set of independent conservation laws implies the complete integrability of the corresponding classical system.
Keywords:
Hamiltonian operator, polynomial differential operator, system with exponential interaction, potential spectrum
Citation:
Kozlov V. V., Treschev D. V., Polynomial Conservation Laws in Quantum Systems, Theoretical and Mathematical Physics, 2004, vol. 140, no. 3, pp. 1283–1298
Integrability of the Problem of the Motion of a Cylinder and a Vortex in an Ideal Fluid
Mathematical Notes, 2004, vol. 75, no. 1, pp. 19-22
Abstract
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In this paper, we obtain a nonlinear Poisson structure and two first integrals in the problem of the plane motion of a circular cylinder and $n$ point vortices in an ideal fluid. This problem is a priori not Hamiltonian; specifically, in the case $n = 1$ (i.e., in the problem of the interaction of a cylinder with a vortex) it is integrable.
Keywords:
ideal fluid, motion of a circular cylinder in an ideal fluid, point vortices, Poisson structure, Poisson bracket, Casimir function
Citation:
Borisov A. V., Mamaev I. S., Integrability of the Problem of the Motion of a Cylinder and a Vortex in an Ideal Fluid, Mathematical Notes, 2004, vol. 75, no. 1, pp. 19-22
Dynamics of variable systems, and Lie groups
Journal of Applied Mathematics and Mechanics, 2004, vol. 68, no. 6, pp. 803–808
Abstract
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Mechanical systems whose configuration space is a Lie group and whose Lagrangian is invariant to left translations on that group are considered. It is assumed that the mass geometry of the system may change under the action of only internal forces. The equations of motion admit of a complete set of Noether integrals which are linear in the velocities. For fixed values of these integrals, the equations of motion reduce to a non-autonomous system of first-order differential equations on the Lie group. Conditions under which the system can be brought from any initial position to another preassigned position by changing its mass geometry are discussed. The “falling cat” problem and the problem of the motion of a body of variable shape in an unlimited volume of ideal fluid are considered as examples.
Citation:
Kozlov V. V., Dynamics of variable systems, and Lie groups, Journal of Applied Mathematics and Mechanics, 2004, vol. 68, no. 6, pp. 803–808
Linear systems with a quadratic integral and the symplectic geometry of Artin spaces
Journal of Applied Mathematics and Mechanics, 2004, vol. 68, no. 3, pp. 329–340
Abstract
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New relations are established between the spectrum of a linear system and the indices of inertia of its quadratic integral. A detailed investigation is made of the case in which the positive and negative indices of inertia of the quadratic integral are identical. Conditions are found under which the singular planes will be Lagrangian relative to some natural symplectic structure. They are closely related to the conditions for strong stability of a linear system. The general results are applied to the classical problem of gyroscopic stabilization.
Citation:
Kozlov V. V., Linear systems with a quadratic integral and the symplectic geometry of Artin spaces, Journal of Applied Mathematics and Mechanics, 2004, vol. 68, no. 3, pp. 329–340
Two-body problem on a sphere. Reduction, stochasticity, periodic orbits
Regular and Chaotic Dynamics, 2004, vol. 9, no. 3, pp. 265-279
Abstract
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We consider the problem of two interacting particles on a sphere. The potential of the interaction depends on the distance between the particles. The case of Newtonian-type potentials is studied in most detail. We reduce this system to a system with two degrees of freedom and give a number of remarkable periodic orbits. We also discuss integrability and stochastization of the motion.
Citation:
Borisov A. V., Mamaev I. S., Kilin A. A., Two-body problem on a sphere. Reduction, stochasticity, periodic orbits, Regular and Chaotic Dynamics, 2004, vol. 9, no. 3, pp. 265-279
Absolute and relative choreographies in the problem of point vortices moving on a plane
Regular and Chaotic Dynamics, 2004, vol. 9, no. 2, pp. 101-111
Abstract
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We obtained new periodic solutions in the problems of three and four point vortices moving on a plane. In the case of three vortices, the system is reduced to a Hamiltonian system with one degree of freedom, and it is integrable. In the case of four vortices, the order is reduced to two degrees of freedom, and the system is not integrable. We present relative and absolute choreographies of three and four vortices of the same intensity which are periodic motions of vortices in some rotating and fixed frame of reference, where all the vortices move along the same closed curve. Similar choreographies have been recently obtained by C. Moore, A. Chenciner, and C. Simo for the $n$-body problem in celestial mechanics [6, 7, 17]. Nevertheless, the choreographies that appear in vortex dynamics have a number of distinct features.
Citation:
Borisov A. V., Mamaev I. S., Kilin A. A., Absolute and relative choreographies in the problem of point vortices moving on a plane, Regular and Chaotic Dynamics, 2004, vol. 9, no. 2, pp. 101-111
Billiards, invariant measures, and equilibrium thermodynamics. II
Regular and Chaotic Dynamics, 2004, vol. 9, no. 2, pp. 91-100
Abstract
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The kinetics of collisionless continuous medium is studied in a bounded region on a curved manifold. We have assumed that in statistical equilibrium, the probability distribution density depends only on the total energy. It is shown that in this case, all the fundamental relations for a multi-dimensional ideal gas in thermal equilibrium hold true.
Citation:
Kozlov V. V., Billiards, invariant measures, and equilibrium thermodynamics. II, Regular and Chaotic Dynamics, 2004, vol. 9, no. 2, pp. 91-100
Notes on diffusion in collisionless medium
Regular and Chaotic Dynamics, 2004, vol. 9, no. 1, pp. 29-34
Abstract
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A collisionless continuous medium in Euclidean space is discussed, i.e. a continuum of free particles moving inertially, without interacting with each other. It is shown that the distribution density of such medium is weakly converging to zero as time increases indefinitely. In the case of Maxwell's velocity distribution of particles, this density satisfies the well-known diffusion equation, the diffusion coefficient increasing linearly with time.
Citation:
Kozlov V. V., Notes on diffusion in collisionless medium, Regular and Chaotic Dynamics, 2004, vol. 9, no. 1, pp. 29-34
On weighted mean values of weakly dependent random variables
Vestnik Moskov. Univ. Ser. I Mat. Mekh., 2004, vol. 59, no. 5, pp. 36–39
Abstract
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Citation:
Kozlov V. V., Madsen T., Sorokin A. A., On weighted mean values of weakly dependent random variables, Vestnik Moskov. Univ. Ser. I Mat. Mekh., 2004, vol. 59, no. 5, pp. 36–39
Classical dynamics in non-Eucledian spaces
Moscow–Izhevsk: Institute of Computer Science, 2004, 348 pp.
Abstract
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The book is a collecton of recent and classical works of dynamics in spaces of constant curvature. The Kepler problem and its extentions, the two- and three-body problem and the rigid body dinamics in curved spaces are considered. Many classical works by W. Killing, H.Liebmann, etc. have been practically not available for a wide audience and almost forgotten. The recent papers collected here discuss stochasticity and integrability issues, various generalizations of some results from classical and celestial mechanics, and the Newton potential theory.
The book is for undergraduate and postgraduate students and specialists in dynamical systems. We hope that it will be interesting for scientific historians.
Citation:
Borisov A. V., Mamaev I. S., Classical dynamics in non-Eucledian spaces, Moscow–Izhevsk: Institute of Computer Science, 2004, 348 pp.
The spectrum of a linear Hamiltonian system and symplectic geometry of a complex Artin space
Doklady Mathematics, 2003, vol. 68, no. 3, pp. 385–387
Abstract
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Citation:
Kozlov V. V., The spectrum of a linear Hamiltonian system and symplectic geometry of a complex Artin space, Doklady Mathematics, 2003, vol. 68, no. 3, pp. 385–387
Weak limits of probability distributions in systems with nonstationary perturbations
Doklady Mathematics, 2003, vol. 67, no. 2, pp. 283–285
Abstract
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Citation:
Kozlov V. V., Weak limits of probability distributions in systems with nonstationary perturbations, Doklady Mathematics, 2003, vol. 67, no. 2, pp. 283–285
Two Integrable System on a Two-dimensional Sphere
Doklady Physics, 2003, vol. 389, no. 3, pp.
Abstract
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In their paper "Kepler's problem in constant curvature spaces" (Cel. Mech. And Dyn. Ast., v. 54, 1992. p. 393-399) Kozlov V.V. and Harin А.О. showed that the Euler problem of planar motion of a particle attracted by two fixed Newtonian centers has an integrable analogue on a two-dimensional sphere $S^2$. The integrability was shown using the separation of variables. In the book "Poisson structures and Lie algebras in Hamiltonian mechanics" by Borisov A.V. and Mamaev I.S. the integrability of a spatial analogue of the problem was proved. The proof is based on the reduction by using a cyclic variable. As a result of this reduction, the 'spatial' problem on $S^3$ becomes a 'plane' one on $S^2$. In this case, however, an additional Hook's center appears at the pole on the perpendicular to an equatorial plane of the two former centers. In this paper we present algebraic integrals for a more general situation when a particle is attracted by two Newtonian centers and three mutually orthogonal Hook's centers of which two together with the Newtonian centers lie in a plane, and the third one is on the perpendicular to the plane.
Citation:
Mamaev I. S., Two Integrable System on a Two-dimensional Sphere, Doklady Physics, 2003, vol. 389, no. 3, pp.
Strange Attractors in Rattleback Dynamics
Physics-Uspekhi, 2003, vol. 46, no. 4, pp. 393-403
Abstract
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This review is dedicated to the dynamics of the rattleback, a phenomenon with curious physical properties that is
studied in nonholonomic mechanics. All known analytical results are collected here, and some results of our numerical
simulation are presented. In particular, three-dimensional Poincare maps associated with dynamical systems are systematically investigated for the first time. It is shown that the loss of
stability of periodic and quasiperiodic solutions, which gives rise
to strange attractors, is typical of the three-dimensional maps related to rattleback dynamics. This explains some newly discovered properties of the rattleback related to the transition from regular to chaotic solutions at certain values of the physical parameters.
Citation:
Borisov A. V., Mamaev I. S., Strange Attractors in Rattleback Dynamics, Physics-Uspekhi, 2003, vol. 46, no. 4, pp. 393-403
Evolution of Measures in the Phase Space of Nonlinear Hamiltonian Systems
Theoretical and Mathematical Physics, 2003, vol. 136, no. 3, pp. 1325–1335
Abstract
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We establish the existence of weak limits of solutions (in the class $L_p$, $p\ge1$) of the Liouville equation for nondegenerate quasihomogeneous Hamilton equations. We find the limit probability distributions in the configuration space. We give conditions for a uniform distribution of Gibbs ensembles for geodesic flows on compact manifolds.
Kozlov V. V., Treschev D. V., Evolution of Measures in the Phase Space of Nonlinear Hamiltonian Systems, Theoretical and Mathematical Physics, 2003, vol. 136, no. 3, pp. 1325–1335
Weak Convergence of Solutions of the Liouville Equation for Nonlinear Hamiltonian Systems
Theoretical and Mathematical Physics, 2003, vol. 134, no. 3, pp. 339–350
Abstract
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We suggest sufficient conditions for the existence of weak limits of solutions of the Liouville equation as time increases indefinitely. The presence of the weak limit of the probability distribution density leads to a new interpretation of the second law of thermodynamics for entropy increase.
Kozlov V. V., Treschev D. V., Weak Convergence of Solutions of the Liouville Equation for Nonlinear Hamiltonian Systems, Theoretical and Mathematical Physics, 2003, vol. 134, no. 3, pp. 339–350
The motion in a perfect fluid of a body containing a moving point mass
Journal of Applied Mathematics and Mechanics, 2003, vol. 67, no. 4, pp. 553–564
Abstract
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The motion of a system (a rigid body, symmetrical about three mutually perpendicular planes, plus a point mass situated inside the body) in an unbounded volume of a perfect fluid, which executes vortex-free motion and is at rest at infinity, is considered. The motion of the body occurs due to displacement of the point mass with respect to the body. Two cases are investigated: (a) there are no external forces, and (b) the system moves in a uniform gravity field. An analytical investigation of the dynamic equations under conditions when the point performs a specified plane periodic motion inside the body showed that in case (a) the system can be displaced as far as desired from the initial position. In case (b) it is proved that, due to the permanent addition of energy of the corresponding relative motion of the point, the body may float upwards. On the other hand, if the velocity of relative motion of the point is limited, the body will sink. The results of numerical calculations, when the point mass performs random walks along the sides of a plane square grid rigidly connected with the body, are presented.
Citation:
Kozlov V. V., Onishchenko D. A., The motion in a perfect fluid of a body containing a moving point mass, Journal of Applied Mathematics and Mechanics, 2003, vol. 67, no. 4, pp. 553–564
The Hess case in the dynamics of a rigid body
Journal of Applied Mathematics and Mechanics, 2003, vol. 67, no. 2, pp. 227-235
Abstract
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In the paper we consider modifications of the Hess integral suitable for various forms of the equations of motion for rigid body. This integral occurs due to some additional symmetry properties of the equations of motion. Moreover, we discuss the general conditions under which the integral exists. Assuming that these conditions are satisfied, we discuss the reduction of the order of the equations, their explicit integration and a qualitative analysis of motion. For the first time, the paper indicates new counterparts of the Hess case for the problem of a gyroscope fixed in a gimbal suspension and for Chaplygin's equations describing the motion of a heavy rigid body in an ideal fluid.
Citation:
Borisov A. V., Mamaev I. S., The Hess case in the dynamics of a rigid body, Journal of Applied Mathematics and Mechanics, 2003, vol. 67, no. 2, pp. 227-235
Motion of a circular cylinder and $n$ point vortices in a perfect fluid
Regular and Chaotic Dynamics, 2003, vol. 8, no. 4, pp. 449-462
Abstract
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The paper studies the system of a rigid body interacting dynamically with point vortices in a perfect fluid. For arbitrary value of vortex strengths and circulation around the cylinder the system is shown to be Hamiltonian (the corresponding Poisson bracket structure is rather complicated). We also reduced the number of degrees of freedom of the system by two using the reduction by symmetry technique and performed a thorough qualitative analysis of the integrable system of a cylinder interacting with one vortex.