Publications

A model governing the motion of an aquatic robot with a shell in the form of a symmetrical airfoil NACA0040 is considered. The motion is controlled by periodic oscillations of the rotor. It is numerically shown that for physically admissible values of the control parameters in the phase space of the system, there exists only one limit cycle. The limit cycle that occurs under symmetric control corresponds to the motion of the robot near a straight line. In the case of asymmetric controls, the robot moves near a circle. An algorithm for controlling the course of the robot motion is proposed. This algorithm uses determined limit cycles and transient processes between them.

The dynamics of a system governing the controlled motion of an unbalanced circular foil in the presence of point vortices is considered. The foil motion is controlled by periodically changing the position of the center of mass, the gyrostatic momentum, and the moment of inertia of the system. A derivation of the equations of motion based on Sedov's approach is proposed, the equations of motion are presented in the Hamiltonian form. A periodic perturbation of the known integrable case is considered.

Describing the phenomena of the surrounding world is an interesting task that has long attracted the attention of scientists. However, even in seemingly simple phenomena, complex dynamics can be revealed. In particular, leaves on the surface of various bodies of water exhibit complex behavior. This paper addresses an idealized description of the mentioned phenomenon. Namely, the problem of the plane-parallel motion of an unbalanced circular disk moving in a stream of simple structure created by a point source (sink) is considered. Note that using point sources, it is possible to approximately simulate the work of skimmers used for cleaning swimming pools. Equations of coupled motion of the unbalanced circular disk and the point source are derived. It is shown that in the case of a fixed-position source of constant intensity the equations of motion of the disk are Hamiltonian. In addition, in the case of a balanced circular disk the equations of motion are integrable. A bifurcation analysis of the integrable case is carried out. Using a scattering map, it is shown that the equations of motion of the unbalanced disk are nonintegrable. The nonintegrability found here can explain the complex motion of leaves in surface streams of bodies of water.

In this paper we present a method for constructing inhomogeneous velocity fields of an incompressible fluid using expansions in terms of eigenfunctions of the Laplace operator whose weight coefficients are determined from the problem of minimizing the integral of the squared divergence. A number of examples of constructing the velocity fields of plane-parallel and axisymmetric flows are considered. It is shown that the problem of minimizing the integral value of divergence is incorrect and requires regularization. In particular, we apply Tikhonov’s regularization method. The method proposed in this paper can be used to generate different initial conditions in investigating the nonuniqueness of the solution to the Navier – Stokes equations.

This paper is concerned with the motion of an aquatic robot whose body has the form of a sharp-edged foil. The robot is propelled by rotating the internal rotor without shell deformation. The motion of the robot is described by a finite-dimensional mathematical model derived from physical considerations. This model takes into account the effect of added masses and viscous friction. The parameters of the model are calculated from comparison of experimental data and numerical solution to the equations of rigid body motion and the Navier–Stokes equations. The proposed mathematical model is used to define controls implementing straight-line motion, motion in a circle, and motion along a complex trajectory. Experiments for estimation of the efficiency of the model have been conducted.

This paper addresses the problem of balancing an inverted pendulum on an omnidirectional platform in a three-dimensional setting. Equations of motion of the platform – pendulum system in quasi-velocities are constructed. To solve the problem of balancing the pendulum by controlling the motion of the platform, a hybrid genetic algorithm is used. The behavior of the system is investigated under different initial conditions taking into account a necessary stop of the platform or the need for continuation of the motion at the end point of the trajectory. It is shown that the solution of the problem in a two-dimensional setting is a particular case of three-dimensional balancing.

This paper considers the application of the harmonic balance method for calculating the boundaries of the instability region of the Liouville problem. Explicit equations for the boundaries of the first four instability regions are given.

The motion of a circular cylinder in an ideal fluid in the field of a fixed source is considered. It is shown that, when the source has constant strength, the system possesses a momentum integral and an energy integral. Conditions are found under which the equations of motion reduced to the level set of the momentum integral admit an unstable fixed point. This fixed point corresponds to circular motion of the cylinder about the source. A feedback is constructed which ensures stabilization of the above-mentioned fixed point by changing the strength of the source.

The motion of a spherical robot with periodically changing moments of inertia, internal rotors and a displaced center of mass is considered. It is shown that, under some restrictions on the displacement of the center of mass, the system of interest features chaotic dynamics due to separatrix splitting. A stability analysis is made of the upper equilibrium point of the ball and of the periodic solution arising in its neighborhood, in the case of periodic rotation of the rotors. It is shown that the lower equilibrium point can become unstable in the case of fixed rotors and periodically changing moments of inertia.

This paper examines the motion of a balanced spherical robot under the action of periodically changing moments of inertia and gyrostatic momentum. The system of equations of motion is constructed using the model of the rolling of a rubber body (without slipping and twisting) and is nonconservative. It is shown that in the absence of gyrostatic momentum the equations of motion admit three invariant submanifolds corresponding to plane-parallel motion of the sphere with rotation about the minor, middle and major axes of inertia. The abovementioned motions are quasi-periodic, and for the numerical estimate of their stability charts of the largest Lyapunov exponent and charts of stability are plotted versus the frequency and amplitude of the moments of inertia. It is shown that rotations about the minor and major axes of inertia can become unstable at sufficiently small amplitudes of the moments of inertia. In this case, the so-called “Arnol’d tongues” arise in the stability chart. Stabilization of the middle unstable axis of inertia turns out to be possible at sufficiently large amplitudes of the moments of inertia, when the middle axis of inertia becomes the minor axis for a part of a period. It is shown that the nonconservativeness of the system manifests itself in the occurrence of limit cycles, attracting tori and strange attractors in phase space. Numerical calculations show that strange attractors may arise through a cascade of period-doubling bifurcations or after a finite number of torus-doubling bifurcations.

This paper considers the plane-parallel motion of an elliptic foil in a fluid with a nonzero constant circulation under the action of external periodic forces and torque. The existence of the first integral is shown for the case in which there is no external torque and an external force acts along one of the principal axes of the foil. It is shown that, in the general case, in the absence of friction, an extensive stochastic layer is observed for the period advance map. When dissipation is added to the system, strange attractors can arise from the stochastic layer.

This paper addresses a conservative system describing the motion of a smooth body in an ideal fluid under the action of an external periodic torque with nonzero mean and of an external periodic force. It is shown that, in the case where the body is circular in shape, the angular velocity of the body increases indefinitely (linearly in time), and the projection of the phase trajectory onto the plane of translational velocities is attracted to a circle. Asymptotic orbital stability (or asymptotic stability with respect to part of variables) exists in the system. It is shown numerically that, in the case of an elliptic body, the projection of the phase trajectory onto the plane of translational velocities is attracted to an annular region.

This paper is devoted to investigations of the motion of the propellerless aquatic robots. There are two models of aquatic robots under consideration that move due to rotation of internal rotors. Mathematical models to describe the motion of the robots are proposed. Experiments with different control actions for fabricated prototypes to verify mathematical models have been conducted.

The motion of a spherical robot with periodically changing moments of inertia and gyrostatic momentum is considered. Equations of motion are derived within the framework of the model of "rubber" rolling (without slipping and twisting). The stability of partial solutions of the system is studied numerically. It is shown that the system is nonconservative, and, as a consequence, limit cycles and strange attractors exist in the phase space of the system.

The dynamics of a body with a fixed point is considered in the case where the moments of inertia of the system depend periodically on time. A stability of permanent rotations is estimated by a numerical approach. In a neighborhood of permanent rotations the linearization of equations of motion results in Hill's equation, and the stability is determined by the eigenvalues of a monodromy matrix. It is shown that stable rotations may be destabilized by periodically changing the moments of inertia due to parametric resonance.

This paper is devoted to investigations of the motion of an aquatic propeller-less robot. The robot motion implemented by rotation of internal rotor. A simple finite-dimensional mathematical model to describe the motion of the robot is proposed. Experiments with control actions providing the motion along a straight line and a circle have been conducted.

The dynamics of a body with a fixed point, variable moments of inertia and internal rotors are considered. A stability analysis of permanent rotations and periodic solutions of the system is carried out. In some simplest cases the stability analysis is reduced to investigating the stability of the zero solution of Hill’s equation. It is shown that by periodically changing the moments of inertia it is possible to stabilize unstable permanent rotations of the system. In addition, stable dynamical regimes can lose stability due to a parametric resonance. It is shown that, as the oscillation frequency of the moments of inertia increases, the dynamics of the system becomes close to an integrable one.

The motion of a circular cylinder in a fluid in the presence of circulation and external periodic force and torque is studied. It is shown that for a suitable choice of the frequency of external action for motion in an ideal fluid the translational velocity components of the body undergo oscillations with increasing amplitude due to resonance. During motion in a viscous fluid no resonance arises. Explicit integration of the equations of motion has shown that the unbounded propulsion of the body in a viscous fluid is impossible in the absence of external torque. In the general case, the solution of the equations is represented in the form of a multiple series.

A plane-parallel motion of a circular foil is considered in a fluid with a nonzero constant circulation under the action of external periodic force and torque. Various integrable cases are treated. Conditions for the existence of resonances of two types are found. In the case of resonances of the first type, the phase trajectory of the system and the trajectory of the foil are unbounded. In the case of resonances of the second type, the foil trajectory is unbounded, while the phase trajectory of the system remains bounded during the motion.

This paper addresses the problem of the self-propulsion of a smooth body in a fluid by periodic oscillations of the internal rotor and circulation. In the case of zero dissipation and constant circulation, it is shown using methods of KAM theory that the kinetic energy of the system is a bounded function of time. In the case of constant nonzero circulation, the trajectories of the center of mass of the system lie in a bounded region of the plane. The method of expansion by a small parameter is used to approximately construct a solution corresponding to directed motion of a circular foil in the presence of dissipation and variable circulation. Analysis of this approximate solution has shown that a speed-up is possible in the system in the presence of variable circulation and in the absence of resistance to translational motion. It is shown that, in the case of an elliptic foil, directed motion is also possible. To explore the dynamics of the system in the general case, bifurcation diagrams, a chart of dynamical regimes and a chart of the largest Lyapunov exponent are plotted. It is shown that the transition to chaos occurs through a cascade of period-doubling bifurcations.

This paper addresses the problem of controlled motion of the Zhukovskii foil in a viscous fluid due to a periodically oscillating rotor. Equations of motion including the added mass effect, viscous friction and lift force due to circulation are derived. It is shown that only limit cycles corresponding to the direct motion or motion near a circle appear in the system at the standard parameter values. The chart of dynamical regimes, the chart of the largest Lyapunov exponent and a one-parameter bifurcation diagram are calculated. It is shown that strange attractors appear in the system due to a cascade of period-doubling bifurcations.

This paper addresses the problem of self-propulsion of a smooth profile in a medium with viscous dissipation and circulation by means of parametric excitation generated by oscillations of the moving internal mass. For the case of zero dissipation, using methods of KAM theory, it is shown that the kinetic energy of the system is a bounded function of time, and in the case of nonzero circulation the trajectories of the profile lie in a bounded region of the space. In the general case, using charts of dynamical regimes and charts of Lyapunov exponents, it is shown that the system can exhibit limit cycles (in particular, multistability), quasi-periodic regimes (attracting tori) and strange attractors. One-parameter bifurcation diagrams are constructed, and Neimark – Sacker bifurcations and period-doubling bifurcations are found. To analyze the efficiency of displacement of the profile depending on the circulation and parameters defining the motion of the internal mass, charts of values of displacement for a fixed number of periods are plotted. A hypothesis is formulated that, when nonzero circulation arises, the trajectories of the profile are compact. Using computer calculations, it is shown that in the case of anisotropic dissipation an unbounded growth of the kinetic energy of the system (Fermi-like acceleration) is possible.

This paper addresses the problem of plane-parallel motion of the Zhukovskii foil in a viscous fluid. Various motion regimes of the foil are simulated on the basis of a joint numerical solution of the equations of body motion and the Navier – Stokes equations. According to the results of simulation of longitudinal, transverse and rotational motions, the average drag coefficients and added masses are calculated. The values of added masses agree with the results published previously and obtained within the framework of the model of an ideal fluid. It is shown that between the value of circulation determined from numerical experiments, and that determined according to the model of and ideal fluid, there is a correlation with the coefficient $\mathcal{R} = 0.722$. Approximations for the lift force and the moment of the lift force are constructed depending on the translational and angular velocity of motion of the foil. The equations of motion of the Zhukovskii foil in a viscous fluid are written taking into account the found approximations and the drag coefficients. The calculation results based on the proposed mathematical model are in qualitative agreement with the results of joint numerical solution of the equations of body motion and the Navier – Stokes equations.

This paper is concerned with the motion of heavy toroidal bodies in a fluid. For experimental purposes, models of solid tori with a width of 3 cm and external diameters of 10 cm, 12 cm and 15 cm have been fabricated by the method of casting chemically solidifying polyurethane (density 1100 kg/m³). Tracking of the models is performed using the underwater Motion Capture system. This system includes 4 cameras, computer and specialized software. A theoretical description of the motion is given using equations incorporating the influence of inertial forces, friction and circulating motion of a fluid through the hole. Values of the model parameters are selected by means of genetic algorithms to ensure an optimal agreement between experimental and theoretical data.

The motion of a body shaped as a triaxial ellipsoid and controlled by the rotation of three internal rotors is studied. It is proved that the motion is controllable with the exception of a few particular cases. Partial solutions whose combinations enable an unbounded motion in any arbitrary direction are constructed.

This paper is concerned with a system of equations that describes the motion of two point vortices in a flow possessing constant uniform vorticity and perturbed by an acoustic wave. The system is shown to have both regular and chaotic regimes of motion. In addition, simple and chaotic attractors are found in the system. Attention is given to bifurcations of fixed points of a Poincar´e map which lead to the appearance of these regimes. It is shown that, in the case where the total vortex strength changes, the “reversible pitch-fork” bifurcation is a typical scenario of emergence of asymptotically stable fixed and periodic points. As a result of this bifurcation, a saddle point, a stable and an unstable point of the same period emerge from an elliptic point of some period. By constructing and analyzing charts of dynamical regimes and bifurcation diagrams we show that a cascade of period-doubling bifurcations is a typical scenario of transition to chaos in the system under consideration.

This paper presents a comparative analysis of computations of the motion of heavy three-bladed screws in a fluid along with experimental results. Simulation of the motion is performed using the theory of an ideal fluid and the phenomenological model of viscous friction. For experimental purposes, models of three-bladed screws with various configurations and sizes were manufactured by casting from chemically hardening polyurethane. Comparison of calculated and experimental results has shown that the mathematical models considered essentially do not reflect the processes observed in the experiments.

In this paper we consider the controlled motion of a helical body with three blades in an ideal fluid, which is executed by rotating three internal rotors. We set the problem of selecting control actions, which ensure the motion of the body near the predetermined trajectory. To determine controls that guarantee motion near the given curve, we propose methods based on the application of hybrid genetic algorithms (genetic algorithms with real encoding and with additional learning of the leader of the population by a gradient method) and artificial neural networks. The correctness of the operation of the proposed numerical methods is estimated using previously obtained differential equations, which define the law of changing the control actions for the predetermined trajectory.
In the approach based on hybrid genetic algorithms, the initial problem of minimizing the integral functional reduces to minimizing the function of many variables. The given time interval is broken up into small elements, on each of which the control actions are approximated by Lagrangian polynomials of order 2 and 3. When appropriately adjusted, the hybrid genetic algorithms reproduce a solution close to exact. However, the cost of calculation of 1 second of the physical process is about 300 seconds of processor time.
To increase the speed of calculation of control actions, we propose an algorithm based on artificial neural networks. As the input signal the neural network takes the components of the required displacement vector. The node values of the Lagrangian polynomials which approximately describe the control actions return as output signals . The neural network is taught by the well-known back-propagation method. The learning sample is generated using the approach based on hybrid genetic algorithms. The calculation of 1 second of the physical process by means of the neural network requires about 0.004 seconds of processor time, that is, 6 orders faster than the hybrid genetic algorithm. The control calculated by means of the artificial neural network differs from exact control. However, in spite of this difference, it ensures that the predetermined trajectory is followed exactly.

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.

The motion controlled by the rotation of three internal rotors of a body with helical symmetry in an ideal liquid is considered. The problem is to select controls that ensure the displacement of the body with minimum effort. The optimality of particular solutions found earlier is studied.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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.

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