Collision computation of moving bodies

In this paper, an explicit mathematical representation of n-dimensional bodies moving in translation along general trajectories is derived. This representation is used to find out if two moving bodies are going to collide. An optimization problem is developed for finding the time and location of collision. We consider the special cases of linear and piece-wise linear trajectories. The collision in this case can be obtained by solving a linear program or a sequence of linear programs, respectively. The problem of finding the collision time and location of several moving bodies is cast as an integer programming problem. A comprehensive simulation study shows that this approach requires much lesser computation time when compared with the current approach of finding the collision between all pairs of bodies.     

On the formulation and investigation of a spatial contact problem for elastic bodies under mixed friction conditions

A spatial contact problem is formulated and investgated for rough elastic bodies which touch each other under mixed friction conditions: the elastic bodies are separated in one part of the contact domain by a layer of viscous incompressible liquid (lubricant), while in the other they are in direct contact (such conditions are characteristic for roller bearings, gear transmissions, etc.). The problem is reduced to a system of nonlinear integro-differential and integral equations and inequalities in the contact domain, part of the external boundary, and a number of inner boundaries that are unknown in advance, but separate the lubricated and unlubricated zones. Special cases are problems of dry and completely lubricated contact. A formulation is given for the problem for the case when the materials of the bodies are identical. The problem of mixed friction is considered in strongly drawn out contact. Sections of the contact domain in which the interaction between the bodies is direct or by means of the lubrication layer are investigated using asymptotic methods.     

Nonlinear stability of boundary layers for the Boltzmann equation with cutoff soft potentials

The study on the boundary layer is important in both mathematics and physics. This paper considers the nonlinear stability of boundary layer solutions for the Boltzmann equation with cutoff soft potentials when the Mach number of the far field is less than −1. Unlike the collision frequency is strictly positive in the hard potential or hard sphere model, the collision frequency has no positive lower bound for the cutoff soft potentials, so the decay in time cannot be expected. Instead, the present paper proves that the solution will always be in a small region around the boundary layer by noticing the decay property of collision operator in velocity.     

Construction of the solution of a mixed boundary-value problem for mechanothermodiffusion for layered bodies of canonical shape

We propose a method of constructing the solution of the coupled problem of mechanothermodiffusion for layered bodies of canonical shape (plate, sphere, cylinder). By using the known functional transformation and the Papkovich-Neiber representation for displacements, and introducing unknown functions of time into the boundary conditions, we carry out a separation of the coupled system of equations as well as the boundary conditions.Translated fromMatematicheskie Metody i Fiziko-Mekhanicheskie Polya, Issue 35, 1992, pp. 70–75.     

On the Global-in-Time Existence of a Generalized Solution to a Free-Boundary Problem

A problem with free (unknown) boundary for a one-dimensional diffusion-convection equation is considered. The unknown boundary is found from an additional condition on the free boundary. By the extension of the variables, the problem in an unknown domain is reduced to an initial boundary-value problem for a strictly parabolic equation with unknown coefficients in a known domain. These coefficients are found from an additional boundary condition that enables the construction of a nonlinear operator whose fixed points determine a solution of the original problem.

     

Convex hull representations of models for computing collisions between multiple bodies

In this paper, we consider a collision detection problem that frequently arises in the field of robotics. Given a set of bodies with their initial positions and trajectories, we wish to identify the first collision that occurs between any two bodies, or to determine that none exists. For the case of bodies having linear trajectories, we construct a convex hull representation of the integer programming model of S.Z. Selim and H.A. Almohamad [European Journal of Operational Research 119 (1) (1999) 121–129], and compare the relative effectiveness in solving this problem via the resultant linear program. We also extend this analysis to model a situation in which bodies move along piecewise linear trajectories, possibly rotating at the end of each linear segment. For this case, we again compare an integer programming approach with its linear programming convex hull representation, and exhibit the effectiveness of solving a sequence of mathematical programs for each time segment over a global programming scheme which considers all segments at once. We provide computational results to illustrate the effect of various numbers of bodies present in the collision scenarios, as well as the times at which the first collision occurs.     

Bifurcations of forced oscillators with fuzzy uncertainties by the generalized cell mapping method

In this paper, bifurcations in dynamical systems with fuzzy uncertainties are studied by means of the fuzzy generalized cell mapping (FGCM) method. A bifurcation parameter is modeled as a fuzzy set with a triangular membership function. We first study a boundary crisis resulting from a collision of a fuzzy chaotic attractor with a fuzzy saddle on the basin boundary. The fuzzy chaotic attractor together with its basin of attraction is eradicated as the fuzzy control parameter reaches a critical point. We also show that a saddle-node bifurcation is caused by the collision of a fuzzy period-one attractor with a fuzzy saddle on the basin boundary. The fuzzy attractor together with its basin of attraction suddenly disappears as the fuzzy parameter passes through a critical value.     

The variational contact problem for elastic objects of different dimensions

We consider the variational free boundary problem describing the contact of an elastic plate with a thin elastic obstacle. The contact domain is unknown a priori and should be determined. The problem is described by a variational inequality for a fourth-order operator. The constraint on the displacement is given on a set of dimension less than that of the solution domain. We find the boundary conditions on the set of the possible contact and their exact statement. We justify the mixed statement of the problem and analyze the limit cases corresponding to the unbounded increase of the elasticity coefficients of the contacting bodies.     

Development of boundary element method to dynamic problems for porous media

Biot's consolidation theory is extended to a general class of viscoelastic bodies defined by Riemann-Stieltjes integral convolutions. From a new reciprocity theorem, proved for the governing equations including the inertia terms, the basic integral representations of the displacement fields and pore pressure are obtained. It is shown that, in the absence of internal inputs, a formulation of the dynamic problem in terms of the boundary unknown fields only is possible.     

基于浸入边界-有限元法的流固耦合碰撞数值模拟方法

针对流固耦合碰撞问题,建立了流体中固体与固体碰撞界面解析直接模拟方法,采用清晰界面浸入边界法模拟流体中的动边界问题,避免了传统贴体网格方法在求解流体中存在固体间碰撞问题时网格出现负体积的问题,采用基于罚函数的有限元方法对固体的运动和碰撞进行求解,以分域耦合方式实现流体域和固体域的耦合求解.通过与静止流体中球形颗粒与壁面正碰撞和斜碰撞的实验数据对比,验证了建立的数值模拟方法对流体中固体与固体碰撞数值模拟的正确性,获得了流体域流场在碰撞前后随时间的变化,同时通过该文建立的数值模拟方法也获得了固体域中固体的碰撞力和应力.未来,将把该数值模拟方法应用到流体流动环境中,如固体颗粒对管道的冲蚀、流体诱导海洋立管之间的碰撞、坠物对海底管道的撞击等.     

Some Converse Theorems in Newtonian Field Theory and Their Applications

Two converse theorems related to a family of homogeneous homothetic bodies and connected to the theory of the Newtonian field are proved. In both of them the function characterising the attraction is unknown and it is demonstrated that this function in the first theorem is given by the one characterising the Newtonian field and in the second theorem it is given by this latter function with the addition of a linear function of distance. A second unknown function appears in the second theorem and it is proved that it is a linear function of the volume of the bodies. Moreover, in both the theorems it is proved that the unknown shape of the bodies must be spherical.

The conjecture is made that the two theorems are still true without the hypothesis that the unknown function characterising the attraction has a pole.

The full significance of the two theorems is briefly illustrated by the application of the second theorem to the case of a finite homogeneous fluid, the behaviour of which is isotropic with respect to an element of it. Among other results, it is found that the shape of the fluid is necessarily spherical and the forces at a distance which are exerted among the elements of the fluid are expressed by Newton's Law of gravitation.

AMS Classification 31B20, 31B99, 76A02, 76A99     

Nonuniqueness of a Solution to the Problem on Motion of a Rigid Body in a Viscous Incompressible Fluid

This paper is devoted to the problem on motion of a rigid body in a viscous incompressible fluid. It is proved that there exist at least two weak solutions of this problem if collisions of the body with the boundary of the flow domain are allowed. These solutions have different behavior of the body after the collision. Namely, for the first solution, the body goes away from the boundary after the collision. In the second solution, the body and the boundary remain in contact. Bibliography 15 titles.To Vsevolod Alekseevich Solonnikov on the occasion of his jubilee__________Translated from Zapiski Nauchnykh Seminarov POMI, Vol. 306, 2003, pp. 199–209.     

Collision Detection Using Interpolation Schemes

An algorithm using interpolation methods for the efficient search of the collision time and state of planar bodies is presented. Using interpolation and directed distances, the algorithm can efficiently obtain information about the collision. Further, a simulation system for multiple bodies is investigated and for some simple examples comparisons are shown of the proposed method and a traditional approach.     

Interface cracks in anisotropic composites

The linear model equations of elasticity often give rise to oscillatory solutions in some vicinity of interface crack fronts. In this paper we apply the Wiener–Hopf method which yields the asymptotic behaviour of the elastic fields and, in addition, criteria to prevent oscillatory solutions. The exponents of the asymptotic expansions are found as eigenvalues of the symbol of corresponding boundary pseudodifferential equations. The method works for three‐dimensional anisotropic bodies and we demonstrate it for the example of two anisotropic bodies, one of which is bounded and the other one is its exterior complement. The common boundary is a smooth surface. On one part of this surface, called the interface, the bodies are bonded, while on the complementary part there is a crack. By applying the potential method, the problem is reduced to an equivalent system of Boundary Pseudodifferential Equations (BPE) on the interface with the stress vector as the unknown. The BPEs are defined via Poincaré–Steklov operators. We prove the unique solvability of these BPEs and obtain the full asymptotic expansion of the solution near the crack front. As a special case we consider the interface crack between two different isotropic materials and derive an explicit criterion which prevents oscillatory solutions. Copyright © 1999 John Wiley & Sons, Ltd.     

On multiple impact

The relationships and paradoxes of the problem of multiple impact are discussed. The latter includes not only the case of simultaneous collision between three or more bodies, but also problems involving a collision between two bodies when there are additional constraints. By solving a number of problems, it is shown that the following kinds of multiple impact can be distinguished depending on the configuration of the system and the dynamical properties of the colliding bodies.

1. 1. The regular type is characterized by the fact that the problem is correctly solvable within the framework of the given mechanical system with a finite number of degrees of freedom. In this case small variations of the initial conditions lead to small modifications of the same order of magnitude of the velocities after the collision.

2. 2. The stochastic type combines high sensitivity of the result to the initial conditions with the impossibility of determining these conditions with sufficient accuracy. In this case it appears that one should consider the impact impulse as a random variable with a discrete set of values.

3. 3. In the quasiregular case the problem under consideration is solvable, but the solution depends very much on the physical properties of the colliding bodies. To obtain this solution it is no longer sufficient to consider a finite-dimensional mechanical system.

Regularity criteria for a collision between three or more free bodies and for the impact of a physical pendulum against an obstacle are obtained.     

Collisions d'un point et d'un plan

A predictive theory of rigid bodies collision is developed that is mathematical and mecanical coherent. We investigate the existence of a solution of the evolution problem of a point above a plane including friction and general constitutive laws during collisions.     

An adaptive algorithm for the Thomas–Fermi equation

A free boundary value problem is introduced to approximate the original Thomas–Fermi equation. The unknown truncated free boundary is determined iteratively. We transform the free boundary value problem to a nonlinear boundary value problem defined on [0,1]. We present an adaptive algorithm to solve the problem by means of the moving mesh finite element method. Comparison of our numerical results with those obtained by other approaches shows high accuracy of our method.     

The Method of Singular Equations in Boundary Value Problems in Kinetic Theory

We develop a new effective method for solving boundary value problems in kinetic theory. The method permits solving boundary value problems for mirror and diffusive boundary conditions with an arbitrary accuracy and is based on the idea of reducing the original problem to two problems of which one has a diffusion boundary condition for the reflection of molecules from the wall and the other has a mirror boundary condition. We illustrate this method with two classical problems in kinetic theory: the Kramers problem (isothermal slip) and the thermal slip problem. We use the Bhatnagar-Gross-Krook equation (with a constant collision frequency) and the Williams equation (with a collision frequency proportional to the molecular velocity).__________Translated from Teoreticheskaya i Matematicheskaya Fizika, Vol. 143, No. 3, pp. 437–454, June, 2005.     

Asymptotics of anisotropic weakly curved inclusions in an elastic body

Under study are the boundary value problems describing the equilibrium of twodimensional elastic bodies with thin anisotropic weakly curved inclusions in presence of separations. The latter implies the existence of a crack between the inclusion and the matrix. Nonlinear boundary conditions in the form of inequalities are imposed on the crack faces that exclude mutual penetration of the crack faces. This leads to the formulation of the problems with unknown contact area. The passage to limits with respect to the rigidity parameters of the thin inclusions is inspected. In particular, we construct the models as the rigidity parameters go to infinity and analyze their properties.