射影平面上的对偶无环不可分近三角剖分地图

本文研究了球面和射影平面上对偶无环不可分近三角剖分带根地图的以根面次和内面数为参数的计数问题,得到了这类地图在球面和射影平面上的计数函数满足的方程.还得到了射影平面上2连通地图一个参数的显示表达式和渐近估计式.     

The interconnection of sliding and rolling in the problem of the motion of a homogeneous sphere on a rough horizontal plane

The motion of a homogeneous sphere on a rough horizontal plane when the angular velocities of the twisting and spinning of the sphere are equal to zero at the initial instant is considered. It is proved that, for any initial conditions, the angular velocity of the rolling of the sphere and the sliding velocity vanish after the same finite time. It is shown that the sliding and rolling are interconnected and, in particular, that the rolling of a sphere without sliding is impossible.     

The model of dry friction in the problem of the rolling of rigid bodies

The Contensou model of combined dry friction [1] is considered. The problem of integrating the shear stresses over the contact area is solved in terms of elementary functions, unlike the solution in [1], reduced to elliptic quadratures. The problem of the rolling of a homogeneous sphere over a plane with dry friction is investigated.     

Asymptotics of Extremal Curves in the Ball Rolling Problem on the Plane

In the present paper, we study an optimal sphere rolling problem on the plane (without slew and slip) with predefined boundary-value conditions. To solve it, we use methods from the optimal control theory. The controlled system for sphere orientation is represented via the rotation quaternion. Asymptotics of extremal paths on a sphere rolling along small-amplitude sine waves is found.     

On the dynamic model and motion planning for a spherical rolling robot actuated by orthogonal internal rotors

The paper deals with the dynamics of a spherical rolling robot actuated by internal rotors that are placed on orthogonal axes. The driving principle for such a robot exploits nonholonomic constraints to propel the rolling carrier. A full mathematical model as well as its reduced version are derived, and the inverse dynamics are addressed. It is shown that if the rotors are mounted on three orthogonal axes, any feasible kinematic trajectory of the rolling robot is dynamically realizable. For the case of only two rotors the conditions of controllability and dynamic realizability are established. It is shown that in moving the robot by tracing straight lines and circles in the contact plane the dynamically realizable trajectories are not represented by the circles on the sphere, which is a feature of the kinematic model of pure rolling. The implication of this fact to motion planning is explored under a case study. It is shown there that in maneuvering the robot by tracing circles on the sphere the dynamically realizable trajectories are essentially different from those resulted from kinematic models. The dynamic motion planning problem is then formulated in the optimal control settings, and properties of the optimal trajectories are illustrated under simulation.     

Dynamics-Based Motion Planning for a Pendulum-Actuated Spherical Rolling Robot

This paper deals with the dynamics and motion planning for a spherical rolling robot with a pendulum actuated by two motors. First, kinematic and dynamic models for the rolling robot are introduced. In general, not all feasible kinematic trajectories of the rolling carrier are dynamically realizable. A notable exception is when the contact trajectories on the sphere and on the plane are geodesic lines. Based on this consideration, a motion planning strategy for complete reconfiguration of the rolling robot is proposed. The strategy consists of two trivial movements and a nontrivial maneuver that is based on tracing multiple spherical triangles. To compute the sizes and the number of triangles, a reachability diagram is constructed. To define the control torques realizing the rest-to-rest motion along the geodesic lines, a geometric phase-based approach has been employed and tested under simulation. Compared with the minimum effort optimal control, the proposed technique is less computationally expensive while providing similar system performance, and thus it is more suitable for real-time applications.     

Closed-Loop Control of the Motion of a Sphere Rolling on a Moving Horizontal Plane

A uniform sphere is rolling without slipping on a horizontal plane. The motion of the sphere is controlled via the control of the acceleration of the plane. At the time t=0, the sphere and the plane are stationary and the center of the sphere is located at a point A in the plane. Given a time interval [0, t _f], the problem dealt with here is: Find a closed-loop strategy for the acceleration of the moving plane such that, at the time t=t _f, the plane and the sphere will be nearly at rest and the center of the sphere will be in a given neighborhood of the origin. By introducing the concept of path controllability, a closed-loop strategy for the solution of the above-mentioned problem is proposed and its efficiency is demonstrated by solving numerically some examples.     

Rolling of a non-homogeneous ball over a sphere without slipping and twisting

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.      

Approximate solution of a control problem on the basis of the nilpotent approximation

We consider the control problem for deterministic systems described by ordinary differential equations with linear controls. On the basis of the nilpotent approximation method, we construct an algorithm for finding an approximate solution of the control problem for three-dimensional nonlinear systems with two linear controls. The algorithm was implemented in Maple and tested in examples including the control of a mobile robot on a plane and the attitude control of a sphere rolling on a plane.     

Green's contact functions for heat conduction of two half-spaces and half-planes with application to several boundary contact problems

Green's contact functions are constructed for two half-spaces and two half-planes for materials with different thermal conductivities. With the aid of these contact functions some bimetal problems are reduced to boundary integral equations along the outer boundary where only the boundary conditions are to be satisfied. The boundary integral operators are investigated in the plane case. They are Fredholm operators with index zero. The asymptotics of the density of the potentials, which depends on the material parameters and on the angles between the contact line and the outer boundary, is determined by the Mellin transform technique.     

A formula for the reactions of ideal constraints

A formula for determining the reactions of Lagrange-ideal constraints when using arbitrary linear quasi-velocities is obtained. An example of rolling of a sphere along a pair of skew lines is considered with different assumptions regarding whether stick or slip occurs at the points of contact.     

The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere

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.     

Description of pair potentials for which the scattering in a quantum system of three one-dimensional particles is free of diffraction effects

The coordinate asymptotics of the solution of the scattering problem for a system of three one-dimensional particles contains, besides plane and spherical waves, also Fresnel waves which arise also in the two-dimensional problem of a plane wave on a semiinfinite screen. One describes explicitly the class of potentials for which the Fresnel waves do not occur in the coordinate asymptotics. This class is somewhat wider than the class of nonrefleeting potentials.     

Asymptotics of the density matrix for a system of a large number of identical particles

The Wigner equation is considered for a system of a large numberN of identical particles with interaction factor of the order of 1/N. In both the Bose and the Fermi cases, we construct the asymptotics of the solution of the Cauchy problem for this equation with regard to the exchange effect for the case in which the Planck constant is of the order ofN ^−1/d , whered is the space dimension. This asymptotics is interpreted in terms of the theory of the complex germ on a curved phase space equivalent to the space of functions with values on the Riemann sphere in the Fermi case and on the Lobachevskii plane in the Bose case. The classical equations of motion in both cases are reduced to the Vlasov equation; since the phase space is infinite-dimensional, the complex germ is subjected to additional conditions depending on the type of statistics. Translated fromMatematicheskie Zametki, Vol. 65, No. 1, pp. 84–106, January, 1999.     

The nearly horizontally rolling of a thick disk on a rough plane

In the paper the analytical solution of the partially linearized equations of motion of nearly horizontally rolling of a thick rigid disk on a perfectly rough horizontal plane under the action of gravity is given in terms of Whittaker functions. The solution is used to obtain the asymptotic solutions for a very small inclination angle, the study of unilateral contact between a disk and a plane and the study of disk colliding motion.      

带有微弱章动的圆球在粗糙水平面上的运动

对于圆球在粗糙水平面上的运动,在文[1]中,作者忽略了章动,得到了近似解析解。本文在此基础上给出了有章动情况下的控制方程。通过求解这些方程,证明文[1]关于接触点速度的结论在有章动时仍然正确。还得到其它一些有趣的结果,例如:球心和接触点的速度与球的自转角速度和章动角速度有一定联系;球心和接触点的速度的方向具有不变性。在进一步假设微弱章动的情况下,文中得到近似解析解,从而证明文[1]结果的正确性。     

The rolling of a wheel with a reinforced tyre along a plane without slip

A model of a wheel with a reinforced tyre, whose surface is simulated by a flexible strip (tread) attached to parts of two tori (the sidewalls of the tyre) is considered. The disk of the wheel (a rigid body) has six degrees of freedom and is in contact with the plane along part of the tread. Based on several assumptions, the potential energy functional of the deformed wheel is found as a function of the deformations of the centre line of the tread. On the assumption that the wheel is rolling without slip in the region of contact of the tread with the plane along a previously unknown section of the tread, the complete system of equations of motion is obtained. The equilibrium of the wheel and the steady state of rolling in a straight line with given swivel and tilt are investigated, and all characteristics of the motion are found (the contact region, the tyre deformation, and the forces and torques applied to the wheel disk).     

On free boundary problems with moving contact points for the stationary two-dimensional Navier-Stokes equations

Solvability of the problem of slow drying of a plane capillary in the classical setting (i. e., with the adherence condition on a rigid wall) is established. The proof is based on a detailed study of the asymptotics of the solution near a point of contact of the free boundary with a moving wall, including estimates of the coefficients in well known asymptotic formulas. It is shown that the only value of the contact angle admitting a solution of the problem with finite energy dissipation equals π. Bibliography: 18 titles. Translated fromZapiski Nauchnykh Seminarov POMI, Vol. 213, 1994, pp. 179–205. Translated by E. V. Frolova.     

How to control Chaplygin’s sphere using rotors

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.     

Uniqueness for the homogeneous Dirichlet Willmore boundary value problem

We give a sufficient condition for curves on a plane or on a sphere such that if these give the boundary of a Willmore surface touching tangentially along the boundary the plane or the sphere respectively, the surface is necessarily a piece of the plane or a piece of the sphere. The condition we require is that the curves bound a strictly star-shaped domain with respect to the Euclidean geometry in the plane and with respect to the spherical geometry in the sphere, respectively.