Adaptive–adaptive robust boundary control for uncertain mechanical systems with inequality constraints

In this paper, adaptive–adaptive robust boundary control is proposed for uncertain mechanical systems with inequality constraints. First, inequality constraints are taken into consideration, which are derived from the system or environment constraints on state bounds and control input bounds. Moreover, the original system with inequality constraints is transformed into a novel system with merely equality constraints by constraint reorganization techniques. Second, an adaptive robust control with a two-layer adaptive law is initiated. Here, the lower-layer adaptive law is used to overcome the (possibly rapidly time-varying) system uncertainty, which is bounded but unknown. Additionally, the adaptive law design parameters are chosen online by the upper-layer adaptive law, rather than according to the empirically set fixed values. Finally, the performance of the controller with uniform boundedness and uniform ultimate boundedness is theoretically and experimentally verified. The control strategy allows the electric cylinder-driven pitch system to achieve highly accurate and error-controllable motion within the motor drive capability.

     

On the motion of a gyrostat similar to Lagrange’s gyroscope under the influence of a gyrostatic moment vector

In this paper, the problem of the motion of a gyrostat fixed at one point under the action of a gyrostatic moment vector whose components are ℓ _i (i=1,2,3) about the axes of rotation, similar to a Lagrange gyroscope is investigated. We assume that the center of mass G of this gyrostat is displaced by a small quantity relative to the axis of symmetry, and that quantity is used to obtain the small parameter ε (Elfimov in PMM, 42(2):251–258, [1978]). The equations of motion will be studied under certain initial conditions of motion. The Poincaré small parameter method (Malkin in USAEC, Technical Information Service, ABC. Tr-3766, [1959]; Nayfeh in Perturbation methods, Wiley-Interscience, New York, [1973]) is applied to obtain the periodic solutions of motion. The periodic solutions for the case of irrational frequencies ratio are given. The periodic solutions are analyzed geometrically using Euler’s angles to describe the orientation of the body at any instant t of time. These solutions are performed by our computer programs to get their graphical representations.     

Analysis of Newton’s Method to Compute Travelling Waves in Discrete Media

We present a variant of Newton’s method for computing travelling wave solutions to scalar bistable lattice differential equations. We prove that the method converges to a solution, obtain existence and uniqueness of solutions to such equations with a small second order term and study the limiting behaviour of such solutions as this second order term tends to zero. The robustness of the algorithm will be discussed using numerical examples. These results will also be used to illustrate phenomena like propagation failure, which are encountered when studying lattice differential equations. We finish by discussing the broad application range of the method and illustrate that higher dimensional systems exhibit richer behaviour than their scalar counterparts.     

Mei’s symmetry theorem for time scales nonshifted mechanical systems

We focus on Mei symmetry for time scales nonshifted mechanical systems within Lagrangian framework and its resulting new conserved quantities. Firstly, the dynamic equations of time scales nonshifted holonomic systems and time scales nonshifted nonholonomic systems are derived from the generalized Hamilton’s principle. Secondly, the definitions of Mei symmetry on time scales are given and its criterions are deduced. Finally, Mei’s symmetry theorems for time scales nonshifted holonomic conservative systems, time scales nonshifted holonomic nonconservative systems and time scales nonshifted nonholonomic systems are established and proved, and new conserved quantities of above systems are obtained. Results are illustrated with two examples.     

On Saint-Venant’s Problem with Concentrated Loads

The classical Saint-Venant problem is to find a solution of the traction problem of elastostatics in a finite cylinder ?? loaded over its bases. We prove that the problem has a unique solution for equilibrated surface forces $\hat{ \boldsymbol { s}}\in W^{-1,q}(\partial\Omega)$ , with q??(2?? ₀,+??) for some positive ? ₀ depending on ??. Hence $\hat{ \boldsymbol { s}}$ can model force acting on ???, concentrated on sets of zero Lebesgue surface measure of ???. Moreover, if $\hat{ \boldsymbol { s}}$ is equilibrated on each basis, we give a simple proof of the Toupin estimate expressing Saint-Venant??s principle.     

Reconstructing the 3D shapes of droplets in glass microchannels with application to Bretherton’s problem

The outstanding potential of absorbance imaging for the 3D shape analysis of dynamic scenes in multiphase flows is demonstrated and experimentally confirmed. The experimental procedures and workflows have been extended and applied to the 3D shape analysis of droplets moving in microchannels. Using this technique, the problem of measuring the thickness of the lubrication layer and the droplet geometry with sub- \(\upmu\) m resolution could be solved. The obtained data generally conform to models based on Bretherton’s theory and allow its extension even for non-circular microchannel geometries.     

On “generalized Kepler’s third law” and mass dependence of periods of three-body orbits

Meccanica - Five years ago a generalization of Kepler’s third law was formulated (Dmitra?inovi? and ?uvakov in Phys Lett A 379:1939–1945, 2015) for three-body orbits in...     

On Lagrange’s History of Mechanics

The birth of Lagranges Mechanics constitutes a milestone in the history of Mechanics. The genius of Lagrange should have been aware of this turning point inasmuch as he devoted a substantial part of his celebrated book to an account of the previous development of Mechanics. This historical part, located before the technical exposition in the Mécanique analytique, is the subject of the present paper. By directly consulting the original writings of the scientists that contributed to the development of Mechanics, Lagrange produced a first hand historical account. It largely influenced the historians of the XIX century and also those of the beginning of XX century. We interpret Lagranges motivations for writing his history and we suggest an interpretation of the foundations of his historical account.     

On the MHD flow of fractional generalized Burgers＇ fluid with modified Darcy＇s law

This work is concerned with applying the fractional calculus approach to the magnetohydrodynamic (MHD) pipe flow of a fractional generalized Burgers’ fluid in a porous space by using modified Darcy’s relationship. The fluid is electrically conducting in the presence of a constant applied magnetic field in the transverse direction. Exact solution for the velocity distribution is developed with the help of Fourier transform for fractional calculus. The solutions for a Navier–Stokes, second grade, Maxwell, Oldroyd-B and Burgers’ fluids appear as the limiting cases of the present analysis.     

On Green’s correlation of Stokes’ equation

The derivation of Green’s correlation naturally arises when identifying a linear propagation medium with uncontrolled random sources or ambient noise. As expected, this involves convolution of the well known Green’s function with its time-reversed version. The purpose of this paper is to derive a general expression of Green’s correlation function of a linear visco-acoustic propagation medium, in which the pressure field satisfies Stokes’ equation. From the expression obtained for a visco-acoustic medium, the Ward identity that was recently obtained for unbounded media is extended to the case of bounded propagation media. This extension appears necessary as the unbounded model is not valid in many practical cases, as for acoustic rooms for example. It is illustrated with both simulations and real-world aerial acoustics experimental data recorded in a closed room and in the framework of passive identification. In these experiments, Green’s correlation is estimated by the classical coda-based approach, and the performances are studied in this new context.     

A generalization of the Coulomb’s friction law: from graphene to macroscale

At the nanoscale, differently to what happens at the macroscale, friction even without an applied normal pressure and spontaneous adhesion take place. In particular, the nanotribology between two layers of graphene, or other two-dimensional nanomaterials (even curved, such as nanotube walls), remains controversial. It is sufficient to say that friction between two graphene layers or nanotube walls is described in the current literature giving as “material property” a constant friction force or a constant friction shear strength, even if such views are obviously mutually exclusive. Is friction dominated by a strength, by a force or by an energy? Coupling elasticity and energy balance we solve this paradox deriving a generalization of the celebrated Coulomb’s friction law, reconciling the two current views. Molecular dynamics simulations on graphene are conducted to verify its validity at the nanoscale whereas statistical simulations confirm its validity even at the macroscale.     

On the robust Newton’s method with the Mann iteration and the artistic patterns from its dynamics

Nonlinear Dynamics - There are two main aims of this paper. The first one is to show some improvement of the robust Newton’s method (RNM) introduced recently by Kalantari. The RNM is a...     

A modified Darcy’s law

An approach to describe the turbulent flow through a complex geometry (e.g., urban area) by means of an analogy to flows through porous media is presented. Therefore, a modification of the original Darcy’s law is proposed, and its application is tested in a prototype problem with an idealized complex geometry using large eddy simulations. The numerical results indicate the validity of the modified Darcy’s law for the chosen setup.     

On the averaging principle for one-frequency systems. An application to satellite motions

This paper is related to our previous works (Morosi and Pizzocchero in J. Phys. A, Math. Gen. 39:3673–3702, 2006; Nonlinear Dyn., 2008), on the error estimate of the averaging technique for systems with one fast angular variable. In the cited references, a general method (of mixed analytical and numerical type) has been introduced to obtain precise, fully quantitative estimates on the averaging error. Here, this procedure is applied to the motion of a satellite in a polar orbit around an oblate planet, retaining only the J ₂ term in the multipole expansion of the gravitational potential. To exemplify the method, the averaging errors are estimated for the data corresponding to two Earth satellites; for a very large number of orbits, computation of our estimators is much less expensive than the direct numerical solution of the equations of motion.     

On Shape Stability of Incompressible Fluids Subject to Navier’s Slip Condition

The paper is concerned with the equations of motion for incompressible fluids that slip at the wall. Particular interest is in the domain dependence of weak solutions. We prove that the solutions depend continuously on the perturbation of the boundary provided that the latter remains in the class ${\mathcal {C}^{1, 1}}$ . The result is applicable to a wide class of shape optimization problems and is optimal in terms of boundary regularity.     

On the Domain of Validity of Brinkman’s Equation

An increasing number of articles are adopting Brinkman’s equation in place of Darcy’s law for describing flow in porous media. That poses the question of the respective domains of validity of both laws, as well as the question of the value of the effective viscosity μ ^e which is present in Brinkman’s equation. These two topics are addressed in this article, mainly by a priori estimates and by recalling existing analyses. Three main classes of porous media can be distinguished: “classical” porous media with a connected solid structure where the pore surface S _p is a function of the characteristic pore size l _p (such as for cylindrical pores), swarms of low concentration fixed particles where the pore surface is a function of the characteristic particle size l _s , and fiber-made porous media at low solid concentration where the pore surface is a function of the fiber diameter. If Brinkman’s 3D flow equation is valid to describe the flow of a Newtonian fluid through a swarm of fixed particles or fibrous media at low concentration under very precise conditions (Lévy 1983), then we show that it cannot apply to the flow of such a fluid through classical porous media.     

Weighted bipartite containment motion of Lagrangian systems with impulsive cooperative–competitive interactions

Nonlinear Dynamics - The present paper investigates weighted bipartite containment motion of networked Lagrangian systems with instantaneous cooperative–competitive interactions. A control...