Three-parametric robot manipulators with parallel rotational axes

The paper deals with asymptotic motions of 3-parametric robot manipulators with parallel rotational axes. To describe them we use the theory of Lie groups and Lie algebras. An example of such motions are motions with the zero Coriolis accelerations. We will show that there are asymptotic motions with nonzero Coriolis accelerations. We introduce the notions of the Klein subspace, the Coriolis subspace and show their relation to asymptotic motions of robot manipulators. The asymptotic motions are introduced without explicit use of the Levi-Civita connection.     

The orbital stability of periodic motions of a Hamiltonian system with two degrees of freedom in the case of 3:1 resonance

The problem of the orbital stability of periodic motions, produced from an equilibrium position of an autonomous Hamiltonian system with two degrees of freedom is considered. The Hamiltonian function is assumed to be analytic and alternating in a certain neighbourhood of the equilibrium position, the eigenvalues of the matrix of the linearized system are pure imaginary, and the frequencies of the linear oscillations satisfy a 3:1 ratio. The problem of the orbital stability of periodic motions is solved in a rigorous non-linear formulation. It is shown that short-period motions are orbitally stable with the sole exception of the case corresponding to bifurcation of short-period and long-period motions. In this particular case there is an unstable short-period orbit. It is established that, if the equilibrium position is stable, then, depending on the values of the system parameters, there is only one family of orbitally stable long-period motions, or two families of orbitally stable and one family of unstable long-period motions. If the equilibrium position is unstable, there is only one family of unstable long-period motions or one family of orbitally stable and two families of unstable long-period motions. Special cases, corresponding to bifurcation of long-period motions or degeneration in the problem of stability, when an additional analysis is necessary, may be exceptions. The problem of the orbital stability of the periodic motions of a dynamically symmetrical satellite close to its steady rotation is considered as an application.     

Solutions to BSDEs driven by both fractional Brownian motions and the underlying standard Brownian Motions

The local existence and uniqueness of the solutions to backward stochastic differential equations(BSDEs, in short) driven by both fractional Brownian motions with Hurst parameter H ∈(1/2, 1) and the underlying standard Brownian motions are studied. The generalization of the It formula involving the fractional and standard Brownian motions is provided. By theory of Malliavin calculus and contraction mapping principle, the local existence and uniqueness of the solutions to BSDEs driven by both fractional Brownian motions and the underlying standard Brownian motions are obtained.     

Some features of the deceleration of an inhomogeneous ball in the air

A model of the deceleration of an inhomogeneous ball acted upon by the drag of the air is discussed, taking into account the interaction of the translational and rotational motions. The problem is reduced to analysing a non-linear second-order dynamical system. The steady motions of the ball, including self-oscillatory and self-rotation motions, are obtained. The bifurcation values of the parameters defining these motions are determined. The corresponding phase portraits are constructed and an interesting interpretation of them is given.     

On Optimum Propulsion by Means of Small Periodic Motions of a Rigid Profile II. Optimization of the Period and Numerical Results

We present some numerically calculated optimum thrust generating small amplitude periodic motions of a rigid profile in an inviscid imcompressible fluid. The motions considered consist in general of both a heaving and a pitching part and have common period. Apart from the prescribed thrust, the motions have to satisfy the demand that the contribution to the total thrust of the suction at the leading edge not exceed a given number and are furthermore subjected to a constraint on their amplitude. Solutions of an analogous optimization problem for pure heaving motions are also discussed. Furthermore, the problem of optimizing the period of the motions is considered.     

An alternative approach for chaos: A plane pendulum with oscillating torque

The shooting method is applied to obtain chaotic motions for a pendulum with a oscillatory torque excitation on its support. It shows that if the pendulum is placed at certain spots, the corresponding motion will become chaotic. It proves the coexistence of uncountably many non-periodic motions and countably many periodic motions of the pendulum.     

Periodic motions in a simplified brake system with a periodic excitation

In this paper, periodic motions for a simplified brake system under a periodical excitation are investigated, and the motion switchability on the discontinuous boundary is discussed through the theory of discontinuous dynamical systems. The onset and vanishing of periodic motions are discussed through the bifurcation and grazing analyses. Based on the discontinuous boundary, the switching planes and the basic mappings are introduced, and the mapping structures for periodic motions are developed. From the mapping structures, the periodic motions are analytically predicted and the corresponding local stability and bifurcation analysis is completed. Periodic motions will be illustrated for verification of analytical predictions. In addition, the relative force distributions along the displacement are illustrated for illustrations of the analytical conditions of motion switchability on the discontinuous boundary.     

Global chaos in a periodically forced, linear system with a dead-zone restoring force

The Poincare mapping and the corresponding mapping sections for global motions in a linear system possessing a dead-zone restoring force are introduced through switching planes pertaining to two constraints. The global periodic motions based on the Poincare mapping are determined, and the eigenvalue analysis for the stability and bifurcation of periodic motion is carried out. Global chaos in such a system is investigated numerically from the unstable global periodic motions analytically determined. The bifurcation scenario with varying parameters is presented. The mapping structures of periodic and chaotic motions are discussed. The Poincare mapping sections for global chaos are given for illustration. The grazing phenomenon embedded in chaotic motion is observed in this investigation.     

Prediction of Extreme Ship Motions in Irregular Waves

The occurrence of indirectly excited large amplitude roll motions of ships is investigated under the influence of a time-varying righting lever curve in waves. In order to account for the irregular character of ocean waves appropriately, the ship motions are described within the framework of nonlinear dynamics and stochastic process theory. The analysis of roll motions in regular waves provides a qualitative understanding of the occurrence of unpredictable large amplitude roll motions as observed in ocean waves. However, quantitative information on the rolling behavior in irregular waves may be retrieved only from a probabilistic analysis. (© 2005 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Dynamics of a model of two delay-coupled relaxation oscillators

This paper investigates the dynamics of a new model of two coupled relaxation oscillators. The model replaces the usual DDE (differential-delay equation) formulation with a discrete-time approach with jumps. Existence, bifurcation and stability of in-phase periodic motions is studied. Simple periodic motions, which involve exactly two jumps per period, are found to have large plateaus in parameter space. These plateaus are separated by regions of complicated dynamics, reminiscent of the Devil’s Staircase. Stability of motions in the in-phase manifold are contrasted with stability of motions in the full phase space.     

On the stability of the steady-state motions of systems with quasicyclic coordinates

The stability of the steady-state motions of a system with quasicyclic coordinates under the action of potential and dissipative forces and also forces which depend on the quasicyclic velocities is investigated. The results are applied to the problem of the stability of the steadystate plane-parallel motions of a rotor on a shaft which is set up in elasticated bearings with a non-linear reaction /1/.

The stability of the stationary motions and relative equilibria of systems with a single cyclic (quasicyclic) coordinate has previously been investigated /2/ from a common point of view. The question of the stability of the stationary motions of systems with quasicyclic coordinates under the action of constant and dissipative forces has been considered in /3/. The results obtained in /2/ have been generalized /4/ to systems with several cyclic (quasicyclic) coordinates and, additionally, a third regime of uniform motions, which includes the regime considered in /3/, has also been investigated.     

Non-linear oscillations of a Hamiltonian system with two degrees of freedom with 2:1 resonance

The motions of an autonomous Hamiltonian system with two degrees of freedom close to an equilibrium position, stable in the linear approximation, are considered. It is assumed that in this neighbourhood the quadratic part of the Hamiltonian of the system is sign-variable, and the ratio of the frequencies of the linear oscillations are close to or equal to two. It is also assumed that the corresponding resonance terms in the third-degree terms of the Hamiltonian are small. The problem of the existence, bifurcations and orbital stability of the periodic motions of the system near the equilibrium position is solved. Conditionally periodic motions of the system are investigated. An estimate is obtained of the region in which the motions of the system are bounded in the neighbourhood of an unstable equilibrium in the case of exact resonance. The motions of a heavy dynamically symmetrical rigid body with a fixed point in the neighbourhood of its permanent rotations around the vertical for 2:1 resonance are considered as an application.     

Bifurcations and chaos of the nonlinear viscoelastic plates subjected to subsonic flow and external loads

The subharmonic bifurcations and chaotic motions of the nonlinear viscoelastic plates subjected to subsonic flow and external loads are studied by means of Melnikov method. The critical conditions for the occurrence of chaotic motions are obtained. The chaotic features on the system parameters are discussed in detail. The conditions for subharmonic bifurcations are also obtained. For the system with no structural damping, chaotic motions can occur through infinite subharmonic bifurcations of odd orders. Furthermore, we confirm our theoretical predictions by numerical simulations. The theoretical results obtained here can help us to eliminate or suppress large nonlinear vibrations and chaotic motions of the nonlinear viscoelastic plates. Based on Melnikov method, complex dynamical behaviors of the nonlinear viscoelastic plates can be controlled by modifying the system parameters.     

Planetenbewegungen des Flaggenraumes

In [8] the author gave a report on some properties of flag space motions, especially of the composition of screw motions or rotations in flag space. Planet motions more generally are motions which can be composed by two one-parameter-groups. These motions are investigated with respect to their orbits, their multiple ways of construction and the tubular surfaces they can determine. Some of them yield tubular screw surfaces, some others move every sphere the way that it again envellopes a sphere. These motions, which have no Euclidean counterpart, determine non-trivial, kinematically generated LIE-transformations in flag space.     

Sliding and transversal motions on an inclined boundary in a periodically forced discontinuous system

In this paper, sliding and transversal motions on the boundary in the periodically driven, discontinuous dynamical system is investigated. The simple inclined straight line boundary in phase space is considered as a control law for such a dynamical system to switch. The normal vector field for a flow switching on the separation boundary is adopted to develop the analytical conditions, and the corresponding transversality conditions of a flow to the boundary are obtained. The conditions of sliding and grazing flows to the separation boundary are presented as well. Using mapping structures, periodic motions of such a discontinuous system are predicted, and the corresponding local stability and bifurcation analysis of the periodic motion are carried out. Numerical illustrations of periodic motions with and without sliding on the boundary are given. The local stability analysis cannot provide the proper prediction of the sliding and grazing motions in discontinuous dynamical systems. Therefore, the normal vector fields of periodic flows are presented, and the normal vector fields on the switching boundary points give the analytical criteria for sliding and transversality of motions.     

On stability of three-dimensional periodic motions in hydrodynamics : PMM vol. 37, n6, 1973, pp. 1044–1048

We obtain exact conditions for the stability of periodic motions. We show that the conditions found in [1] are necessary and sufficient, but they are only applicable to motions not dependent on time. The conditions given in [2] are applicable in the general case but are only sufficient (necessary) conditions of instability (stability). We consider the dependence of stationary motions on parameters.     

The influence of dissipative and constant forces on the form and stability of steady motions of mechanical systems with cyclic coordinates

Mechanical systems with cyclic coordinates subject to dissipative forces with complete dissipation and constant forces applied only to the cyclic variables are considered. Problems of the existence of steady motions in such systems and the conditions for their stability are discussed. It is shown, in particular, that if the Rayleigh function is proportional to the kinetic energy, the stability conditions for the steady motions of the system are the same as or (under certain assumptions) similar to such conditions for steady motions of a corresponding conservative system. The example of a physical pendulum is used to show that such conclusions are generally false: dissipative and constant forces may cause destabilization of stable motions of the system.     

C-半群的渐近概周期运动

讨论了Banach空间上C-半群的渐近概周期（AAP）运动,给出C-半群的渐近概周期运动的若干等价条件,进而得到C-半群的弱渐近概周期（WAAP）运动的等价条件.     

Stationary distributions for two-dimensional sticky Brownian motions: Exact tail asymptotics and extreme value distributions

Sticky Brownian motions can be viewed as time-changed semimartingale reflecting Brownian motions, which find applications in many areas including queueing theory and mathematical finance. In this paper,we focus on stationary distributions for sticky Brownian motions. Main results obtained here include tail asymptotic properties in the marginal distributions and joint distributions. The kernel method, copula concept and extreme value theory are the main tools used in our analysis.     

On motions and switchability in a periodically forced,discontinuous system with a parabolic boundary

The analytical conditions for motion switchability on the switching boundary in a periodically forced, discontinuous system are developed through the G-function of the vector fields to the switching boundary. Periodic motions in such a discontinuous dynamical system are discussed by the use of mapping structures. Two periodic motions and the analytical conditions are presented for illustration. Further investigation should be carried out for a better understanding of the vanishing and stability of regular and chaotic motions.