The 3D motion of a solid with large deformations

We study in dimension 3 the motion of a solid with large deformations. The solid may be loaded on its surface by needles, rods, beams, shells, etc. Therefore, it is wise to choose a third gradient theory for the body. It is known that the stretch matrix of the polar decomposition has to be symmetric. This is an internal constraint, which introduces a reaction stress in the Piola–Kirchhoff–Boussinesq stress. We prove that there exists a motion that satisfies the complete equations of Mechanics in a convenient variational framework. This motion is local-in-time for it may be interrupted by a crushing, which entails a discontinuity of velocity with respect to time, i.e., an internal collision.     

Controlled motion of a rigid body with internal mechanisms in an ideal incompressible fluid

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.     

Lie group symmetry analysis for granular media stress equations

The Airy stress function, although frequently employed in classical linear elasticity, does not receive similar usage for granular media problems. For plane strain quasi-static deformations of a cohesionless Coulomb-Mohr granular solid, a single nonlinear partial differential equation is formulated for the Airy stress function by combining the equilibrium equations with the yield condition. This has certain advantages from the usual approach, in which two stress invariants and a stress angle are introduced, and a system of two partial differential equations is needed to describe the flow. In the present study, the symmetry analysis of differential equations is utilised for our single partial differential equation, and by computing an optimal system of one-dimensional Lie algebras, a complete set of group-invariant solutions is derived. By this it is meant that any group-invariant solution of the governing partial differential equation (provided it can be derived via the classical symmetries method) may be obtained as a member of this set by a suitable group transformation. For general values of the parameters (angle of internal friction ? and gravity g) it is found there are three distinct classes of solutions which correspond to granular flows considered previously in the literature. For the two limiting cases of high angle of internal friction and zero gravity, the governing partial differential equation admit larger families of Lie point symmetries, and from these symmetries, further solutions are derived, many of which are new. Furthermore, the majority of these solutions are exact, which is rare for granular flow, especially in the case of gravity driven flows.     

Dynamical shape control and the stabilization of non-linear thin rods

In this paper we consider the problem of stabilizing the motion of the tip of a thin rod by controlling the shape of the rod, that is its length, dynamically. Well-posedness of the associated state equations, valid on a moving domain, is proved, and the necessary conditions of optimality for the control problem are derived. The theory applies to materials where the stress–strain relation is both non-linear and non monotone, so that hysteresis effects arising from solid–solid phase transitions in the rod are included.     

Computer simulations of sodium formate solution in a mixing tank

Traditionally, solid–liquid mixing has always been regarded as an empirical technology with many aspects of mixing, dispersing and contacting were related to power draw. One important application of solid–liquid mixing is the preparation of brine from sodium formate. This material has been widely used as a drilling and completion fluid in challenging environments such as the Barents Sea. In this paper, large-eddy simulations of a turbulent flow in a solid–liquid baffled cylindrical mixing vessel with large number of solid particles are performed to obtain insight into the fundamental aspects of a mixing tank. The impeller-induced flow at the blade tip radius is modeled by using the dynamic-mesh Lagrangian method. The simulations are four-way coupled, which implies that both solid–liquid and solid–solid interactions are taken into account. By employing a soft particle approach the normal and tangential forces are calculated acting on a particle due to viscoelastic contacts with other neighboring particles. The results show that the granulated form of sodium formate may provide a mixture that allows faster and easier preparation of formate brine in a mixing tank. In addition it is found that exceeding a critical size for grains phenomena, such as caking, can be prevented. The obtained numerical results suggest that by choosing appropriate parameters a mixture can be produced that remains free-flowing no matter how long it is stored before use.     

Leray–Hopf solutions to a viscoelastoplastic fluid model with nonsmooth stress–strain relation

We consider a fluid model including viscoelastic and viscoplastic effects. The state is given by the fluid velocity and an internal stress tensor that is transported along the flow with the Zaremba–Jaumann derivative. Moreover, the stress tensor obeys a nonlinear and nonsmooth dissipation law as well as stress diffusion. We prove the existence of global-in-time weak solutions satisfying an energy inequality under general Dirichlet conditions for the velocity field and Neumann conditions for the stress tensor.     

The application of the solid-angle theorem in the special theory of relativity

Ishlinskii's theorem, well known in classical mechanics, asserts that if an axis, selected in a rigid body, having zero projection of the angular velocity onto this axis, described a closed conical surface during the motion of the body, then, after the axis has returned to its initial position the body will have described an angle around it numerically equal to solid angle of the described cone. It is shown that the same relation also exists in the Special Theory of Relativity—the angle of rotation described by a rigid body during motion along a curvilinear trajectory due to the Thomas precession effect, is numerically equal to the solid angle observed in a fixed frame of reference described by an axis connected with the body due to a change in the rotation of the image of the rigid body. The latter phenomenon is due to the Lorentz contraction of the length and the retardation of light radiated by different parts of the body [10–13].     

A solution method for the sub-surface stresses and local deflection of a semi-infinite inhomogeneous elastic medium

This paper proposes analytical Fourier series solutions (based on the Airy stress function) for the local deflection and subsurface stress field of a two-dimensional graded elastic solid loaded by a pre-determined pressure distribution. We present a selection of numerical results for a simple sinusoidal pressure which indicates how the inhomogeneity of the solid affects its behaviour. The model is then adapted and used to derive an iterative algorithm which may be used to solve for the contact half width and pressure induced from contact with a rigid punch. Finally, the contact of a rigid cylindrical stamp is studied and our results compared to those predicted by Hertzian theory. It is found that solids with a slowly varying elastic modulus produce results in good agreement with those of Hertz whilst more quickly varying elastic moduli which correspond to solids that become stiffer below the surface give rise to larger maximum pressures and stresses whilst the contact pressure is found to act over a smaller area.     

Numerical modelling of stress formation in solidifying and cooling castings

This paper is concerned with calculating stresses in two–component alloy castings solidifying in metal moulds. The main reasons for stress formation are mechanical resistance of the mould and non–homogeneous temperature gradients. Stresses appear in castings when a coherent solid phase skeleton has formed, which may occur in wide range of solid phase fraction. The need for taking the thermal resistance of air gaps into account is exposed.     

具有对角线化的一致质量矩阵的动力有限元和弹塑性撞击计算

在EPIC[1、2]、NONSAP[3]等弹塑性撞击计算的有限元程序中,都有一些共同的弱点.所有这些程序,都采用静力学问题中常用的简单线性形状函数来描写各位移分量.在这样的有限元法中,应变和应力分量在每一有限元中都是常量.但在运动方程中,应力分量都是以它们的空间导数的形式出现的.于是,在采用了线性形状函数来表达的位移分量以后,应力分量对运动方程的贡献必恒等于零.克服这种困难的一般方法是通过虚位移原理,把运动方程化为能量关系的变分形式,从而建立既作用在结点上而又在每一有限元内自相平衡的人为内力平衡系统.把施加在某一结点上的所有相邻有限元的人为内力的作用叠加在一起,就能计算这一结点的加速度.但是从虚位移原理化为能量关系的变分形式时,要求位移和应力在积分域内处处连续.也就是说,要求位移和应力有限元都是协调的.我们很易看到,线性形状函数所描述的位移有限元是连续协调的,但其有关的应力分量在有限元界面上,则并不连续.所以,这样的有限元处理,是否收敛并无把握,即使从近似角度看,也是难以令人满意的.而且,为了计算结点的加速度,我们还应该有建立质量矩阵的计算规则.目前有两种计算方法:一种是集总(lumped)质量法,另一种是一致(consistent)质量法[4].     

Application of amplitude–frequency formulation to nonlinear oscillation system of the motion of a rigid rod rocking back

The scope of this paper is evaluating an oscillation system with nonlinearities, using a periodic solution called amplitude–frequency formulation, such as the motion of a rigid rod rocking back. The approach proposes a choice to overcome the difficulty of computing the periodic behavior of the oscillation problems in engineering. We are to compare the solutions results of this method with the exact ones in order to validate the approach and assess the accuracy of the solutions. This method has a distinguished feature, which makes it simple to use and agree with the exact solutions for various parameters. Moreover, it is perceived that with one‐step iteration high accuracy of the solution will be achieved. We may apply the results of the solution to explain some of the practical physical problems. Copyright © 2009 John Wiley & Sons, Ltd.     

Locomotion of Articulated Bodies in a Perfect Fluid

This paper is concerned with modeling the dynamics of N articulated solid bodies submerged in an ideal fluid. The model is used to analyze the locomotion of aquatic animals due to the coupling between their shape changes and the fluid dynamics in their environment. The equations of motion are obtained by making use of a two-stage reduction process which leads to significant mathematical and computational simplifications. The first reduction exploits particle relabeling symmetry: that is, the symmetry associated with the conservation of circulation for ideal, incompressible fluids. As a result, the equations of motion for the submerged solid bodies can be formulated without explicitly incorporating the fluid variables. This reduction by the fluid variables is a key difference with earlier methods, and it is appropriate since one is mainly interested in the location of the bodies, not the fluid particles. The second reduction is associated with the invariance of the dynamics under superimposed rigid motions. This invariance corresponds to the conservation of total momentum of the solid-fluid system. Due to this symmetry, the net locomotion of the solid system is realized as the sum of geometric and dynamic phases over the shape space consisting of allowable relative motions, or deformations, of the solids. In particular, reconstruction equations that govern the net locomotion at zero momentum, that is, the geometric phases, are obtained. As an illustrative example, a planar three-link mechanism is shown to propel and steer itself at zero momentum by periodically changing its shape. Two solutions are presented: one corresponds to a hydrodynamically decoupled mechanism and one is based on accurately computing the added inertias using a boundary element method. The hydrodynamically decoupled model produces smaller net motion than the more accurate model, indicating that it is important to consider the hydrodynamic interaction of the links.     

Vibrations of a cylinder in a concentric vessel filled with a two-layer fluid

A hybrid vibrational system containing a solid (a cylinder) with an elastic connection to a coaxial cylindrical cavity, completely filled with a heavy ideal stably stratified two-layer fluid, is considered. The combined self-consistent vibrations of the body and the fluid (of the internal waves) are studied. An explicit solution of the internal boundary value problem of an inhomogeneous liquid in an annular domain for a specified motion of the body is obtained. An integrodifferential equation of the Newton type is constructed on the basis of this. This equation describes the self-consistent oscillations of the cylinder. In the case of weak coupling of the interaction between the solid and the medium, an approximate solution is obtained using asymptotic methods and an analysis is carried out. Qualitative effects of the mutual effect of the motions of the cylinder and the fluid are found.     

Analysis of the coupling effects of the longitudinal and transverse displacements on the deformation and internal forces of functionally graded beams

Functionally graded beams (FGBs) with an arbitrary gradation of the material properties along the thickness of the beams are analyzed. Such FGBs are of special interest in civil and mechanical engineering to improve both the thermal and the mechanical behaviour of the beams. In [1] and [3] free vibrations of functionally graded Timoshenko and Euler-Bernoulli beams have been considered. The obtained analytical solutions are based on the work of Li [2], where closed-form solutions of stress distributions, eigenfrequencies and eigenfunctions have been derived by means of a single differential equation of motion for the deflection. However, these previous works did not take into account the coupling between the longitudinal and the transverse displacements and its effects on the deformation and internal forces of the FGBs. This approach is appropriate only for a symmetrical material gradation but it may not be valid for general cases with an arbitrary material gradation. In this paper, the coupling effects of the longitudinal and transverse displacements on the deformation and internal forces of FGBs are investigated for different beam support conditions. Analytical solutions of the corresponding boundary value problem are derived. A comparison is also made with the numerical results obtained by the finite element method (FEM). (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Active vibration control of unbalanced flexible rotor–shaft systems parametrically excited due to base motion

Rotor vibrations caused by large time-varying base motion are of considerable importance as there are a good number of rotors, e.g., the ship and aircraft turbine rotors, which are often subject to excitations, as the rotor base, i.e. the vehicle, undergoes large time varying linear and angular displacements as a result of different maneuvers. Due to such motions of the base, the equations of vibratory motion of a flexible rotor–shaft relative to the base (which forms a non-inertial reference frame) contains terms due to Coriolis effect as well as inertial excitations (generally asynchronous to rotor spin) generated by different system parameters. Such equations of motion are linear but time-varying in nature, invoking the possibility of parametric instability under certain frequency–amplitude combinations of the base motion. An investigation of active vibration control of an unbalanced rotor–shaft system on moving bases is attempted in this work with electromagnetic control force provided by an actuator consisting of four electromagnetic exciters, placed on the stator in a suitable plane around the rotor–shaft. The actuator does not levitate the rotor or facilitate any bearing action, which is provided by the conventional suspension system. The equations of motion of the rotor–shaft continuum are first written with respect to the non-inertial reference frame (the moving base in this case) including the effect of rotor internal damping. A conventional model for the electromagnetic exciter is used. Numerical simulations performed on the flexible rotor–shaft modelled using beam finite elements shows that the control action is successful in avoiding the parametric instability, postponing the instability due to internal material damping and reducing the rotor response relative to the rigid base significantly, with sufficiently low demand of control current in comparison with the bias current in the actuator coils.     

The problem of the motion of a solid in an ideal fluid. Integration of the Clebsch's case

This paper deals with a geometric approach to the integration of Clebsch's case of equations describing the motion of a solid body in an ideal fluid. This problem is defined by a nonlinear system of 6 differential equations admitting 4 polynomial first integrals. We show that the intersection of surface levels of these integrals can be completed to an abelian surface, i.e., a 2-dimensional algebraic torus. Also, we prove that the problem can be linearized, i.e., can be written in terms of abelian integrals, on a Prym variety of a genus 3 curve obtained naturally. Received August 1998     

Semi-discrete DNA breather in Peyrard–Bishop–Dauxois model with fifth-order-approximation Morse potential

We discuss the existence of DNA breather in helicoidal Peyrard–Bishop–Dauxois model with fifth-order-approximation Morse potential based on semi-discrete approximation. This approximation handles the cases which are not admitted in the previous model with fourth-order-approximation Morse potential. It is found that the associated DNA breather is governed by Quintic Nonlinear Schrödinger equation with restricted parameter set. We give an example to explain its existence and dynamics, and confirm it by numerical integration of the discrete equation of motion with full Morse potential. Collision dynamics between the two contra-propagating Quintic DNA breathers is also discussed.     

The optimal quasi-stationary motion of a vibration-driven robot in a viscous medium

We consider a rectilinear quasi-stationary motion of a two-mass system in a viscous medium. The motion of the system as a whole occurs due to periodic movements of the internal mass relatively to the shell. The problem is to describe the law of motion of the internal mass that provides the minimum energy consumption with a specified average velocity of the shell. We propose an algorithm for solving the problem with any law of the resistance of the medium. We obtain the energy-optimal law of motion of a spherical shell in a viscous liquid.     

Computer simulation of underthrusting and subduction due to collision of slabs

We come up with a mathematical simulation of a collision between lithospheric slabs (plates) where one slab is forced into the mantle beneath another. Problems of the Earth’s crust and mantle deformation are solved numerically: for spatial discretization of equations of deformable solid mechanics, a finite-element method is used, and for evolution of the collision process, a stepwise integration of quasistatic deformation equations is applied. Problems of plate motion are solved within a geometrically nonlinear setting in a two-dimensional approximation (plane deformation) with due regard for large deformations of bodies and contact interactions of slabs with the mantle. A numerical solution is obtained via a MSC.Marc 2005 code, encompassing formulations of equations with required types of nonlinearities. A part of the Earth’s crust that has no tendency to delving into the mantle is simulated by a prescribed motion of a rigid body. A part of the Earth’s crust that should sink by virtue of properties of initial geometry is simulated as a deformable solid made up of elastoplastic strain-hardening material. The mantle is simulated by an ideal elastoplastic material with a low yield stress value. We are concerned with parts of the Earth’s crust that have different geometric parameters. Computer simulation of plate collision shows that under standard conditions, underthrusting of one slab beneath another occurs; at sites of initial thickening of a slab in a contact zone, subduction (deep sinking) of the slab into the mantle is expected. In the latter case account should be taken of a well-known experimental fact, that of material compaction of the sunken piece of a slab.