Feasible strategies for the control of a disk rolling on a moving horizontal plane

Let (X,Y,Z) be an inertial coordinate system and suppose that a horizontal plane is moving in a uniform velocity parallel to the (X,Y)-plane. A disk is rolling on the moving plane. Given two points A and B fixed in the (X,Y)-plane. Open-loop strategies are computed, for rolling the disk, on the moving plane, from A to B, during a given time interval [0, _f] and subject to state and control constraints.     

The steady rolling of a disc on a rough plane

The well-known problem of the rolling without slipping of a heavy circular disc along a horizontal plane is considered. The steady motions of a disc for which the angle between the plane of the disc and the supporting plane (the angle of nutation) is constant are investigated. The problem of the range of variation of the angle of nutation within which the given motions are stable, irrespective of the values of the constants of the two linear first integrals or, in other variables, irrespective of the angular velocities of precession and proper rotation, is investigated. It is shown that this range is wider than was established earlier in [1].     

Rubber rolling over a sphere

“Rubber” coated bodies rolling over a surface satisfy a no-twist condition in addition to the no slip condition satisfied by “marble” coated bodies [1]. Rubber rolling has an interesting differential geometric appeal because the geodesic curvatures of the curves on the surfaces at corresponding points are equal. The associated distribution in the 5 dimensional configuration space has 2–3–5 growth (these distributions were first studied by Cartan; he showed that the maximal symmetries occurs for rubber rolling of spheres with 3:1 diameters ratio and materialize the exceptional group G ₂). The 2–3–5 nonholonomic geometries are classified in a companion paper [2] via Cartan’s equivalence method [3]. Rubber rolling of a convex body over a sphere defines a generalized Chaplygin system [4–8] with SO(3) symmetry group, total space Q = SO(3) × S ² and base S ², that can be reduced to an almost Hamiltonian system in T*S ² with a non-closed 2-form ω_NH. In this paper we present some basic results on the sphere-sphere problem: a dynamically asymmetric but balanced sphere of radius b (unequal moments of inertia I _j but with center of gravity at the geometric center), rubber rolling over another sphere of radius a. In this example ω_NH is conformally symplectic [9]: the reduced system becomes Hamiltonian after a coordinate dependent change of time. In particular there is an invariant measure, whose density is the determinant of the reduced Legendre transform, to the power p = 1/2(b/a − 1). Using sphero-conical coordinates we verify the result by Borisov and Mamaev [10] that the system is integrable for p = −1/2 (ball over a plane). They have found another integrable case [11] corresponding to p = −3/2 (rolling ball with twice the radius of a fixed internal ball). Strikingly, a different set of sphero-conical coordinates separates the Hamiltonian in this case. No other integrable cases with different I _j are known.      

Hexagonal pencil rolling on an inclined plane

An everyday example of a nonholonomic mechanical system is a pencil rolling on an inclined plane. Aspects of the motion are discussed in various approximations, of which the most realistic assumes rolling without sliding and that a constant fraction of the pencil’s kinetic energy is retained after each collision with the plane.      

Modelling and control of the motion of a disk rolling on a sloping plane

This work deals with the stabilization and control of the motion of a disk rolling on a sloping plane. It is assumed here that the motion of the disk is controlled by a tilting moment, a directional moment, and a pedalling moment. By using a kind of an inverse control transformation a control strategy is proposed under which the motion of the disk is stabilized and is able asymptotically to track any smooth trajectory which is located on the sloping plane.     

A new study on the thick disk population component of the Galaxy

The newly-raised problem as to whether our Galaxy may contain a thick disk population component has aroused great interest. But up until now no conclusion has been reached unanimously for lack of observed data. Here this problem is discussed based on seven Basel field data calibrated recently and strong evidence is provided. New results on the values of structural parameters, luminosity functions and metal structure of the thick disk are also presented.     

The flow due to a rough rotating disk

Von Kármáns problem of a rotating disk in an infinite viscous fluid is extended to the case where the disk surface admits partial slip. The nonlinear similarity equations are integrated accurately for the full range of slip coefficients. The effects of slip are discussed. An existence proof is also given.     

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 flow due to a rough rotating disk

Von Kármáns problem of a rotating disk in an infinite viscous fluid is extended to the case where the disk surface admits partial slip. The nonlinear similarity equations are integrated accurately for the full range of slip coefficients. The effects of slip are discussed. An existence proof is also given.     

Rotating disk flow and heat transfer through a porous medium of a non-Newtonian fluid with suction and injection

The steady flow of an incompressible viscous non-Newtonian fluid above an infinite rotating porous disk in a porous medium is studied with heat transfer. A uniform injection or suction is applied through the surface of the disk. Numerical solutions of the non-linear differential equations which govern the hydrodynamics and energy transfer are obtained. The effect of the porosity of the medium, the characteristics of the non-Newtonian fluid and the suction or injection velocity on the velocity and temperature distributions is considered. The inclusion of the three effects, the porosity, the non-Newtonian characteristics, and the suction or injection velocity together has shown some interesting effects.     

Feasible command strategies for the control of motion of a simple mobile robot

The concept of feasible command strategies is introduced and its applicability is demonstrated by solving a guidance and control problem. This problem concerns the motion of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its endpoint, about the disk center. The motion of the disk-rod system is subjected to state and control constraints, and it serves as a model for the motion of a simple mobile robot. In addition, the concept of path controllability is introduced and a condition is derived for the system motion path controllability. The derivation of this condition enables one to design closed-loop control laws for the system motion.     

Feasible Command Strategies for the Control of Motion of a Simple Mobile Robot

An error in the model of the disk-rod system of Ref. 1 is corrected.     

Closed-Loop Control of the Motion of a Disk–Rod System

This work deals with the guidance and control of a system which is composed of a rolling disk and a controlled slender rod that is pivoted, through its center of mass, about the disk center. There are given N points P _i, i=1, ..., N, in the horizontal plane, a set of angles _2i , i=1, ..., N, a finite-time interval [0, t _f], and a sequence of times ₁=0<₂<...< _N =t _f. Using the concept of path controllability, a closed-loop control law is derived to steer the system in such a manner that the disk center and the rod angle of rotation ₂ will pass through (P _i, _2i ) at the times _i , i=1,...,N, respectively. This system serves as a model for the motion of a simple mobile robot.     

The steady motions of a disc on an absolutely rough plane

The branching of the steady motions of a heavy circular disc on an absolutely rough horizontal plane is investigated. The motions corresponding to critical points of the energy integral at fixed levels of two other integrals having the form of hypergeometric series are considered.     

Dynamics of a rolling and sliding disk in a plane. Asymptotic solutions,stability and numerical simulations

We present a qualitative analysis of the dynamics of a rolling and sliding disk in a horizontal plane. It is based on using three classes of asymptotic solutions: straight-line rolling, spinning about a vertical diameter and tumbling solutions. Their linear stability analysis is given and it is complemented with computer simulations of solutions starting in the vicinity of the asymptotic solutions. The results on asymptotic solutions and their linear stability apply also to an annulus and to a hoop.     

The motion of a body supported at three points on a rough plane

The problem of the motion of a heavy rigid body, supported on a rough horizontal plane at three of its points, is considered. The contacts at the support points are assumed to be unilateral and subject to the law of dry (Coulomb) friction. The dynamics of possible motions of such a body under the action of gravity forces and dry friction is investigated. In the case of a plane body, it is possible to obtain particular integrals of the equations of motion.     

The rolling ball problem on the plane revisited

By a sequence of rollings without slipping or twisting along segments of a straight line of the plane, a spherical ball of unit radius has to be transferred from an initial state to an arbitrary final state taking into account the orientation of the ball. We provide a new proof that with at most 3 moves, we can go from a given initial state to an arbitrary final state. The first proof of this result is due to Hammersley ( 1983). His proof is more algebraic than ours which is more geometric. We also showed that “generically” no one of the three moves, in any elimination of the spin discrepancy, may have length equal to an integral multiple of 2π.     

Nonlinearly coupled in-plane and transverse vibrations of a spinning disk

Previous nonlinear spinning disk models neglected the in-plane inertia of the disk since this permits the use of a stress function. This paper aims to consider the effect of including the in-plane inertia of the disk on the resulting nonlinear dynamics and to construct approximate solutions that capture the new dynamics. The inclusion of the in-plane inertia results in a nonlinear coupling between the in-plane and transverse vibrations of the spinning disk. The full nonlinear partial differential equations are simplified to a simpler nonlinear two degrees of freedom model via the method of Galerkin. A canonical perturbation approach is used to derive an approximate solution to this simpler nonlinear problem. Numerical simulations are used to evaluate the effectiveness of the approximate solution. Through the use of these analytical and numerical tools, it becomes apparent that the inclusion of in-plane inertia gives rise to new phenomena such as internal resonance and the possibility of instability in the system that are not predicted if the in-plane inertia is ignored. It is also demonstrated that the canonical perturbation approach can be used to produce an effective approximate solution.     

On final motions of a Chaplygin ball on a rough plane

A heavy balanced nonhomogeneous ball moving on a rough horizontal plane is considered. The classical model of a “marble” body means a single point of contact, where sliding is impossible. We suggest that the contact forces be described by Coulomb’s law and show that in the final motion there is no sliding. Another, relatively new, contact model is the “rubber” ball: there is no sliding and no spinning. We treat this situation by applying a local Coulomb law within a small contact area. It is proved that the final motion of a ball with such friction is the motion of the “rubber” ball.