Coupling of numerical Green''s matrix and boundary integral equations for the elastodynamic analysis of inhomogeneous bodies on an elastic half-space

A coupled system of integral equations (of the domain and boundary types) is formulated for the elastodynamic response analysis of a locally inhomogeneous body on a homogeneous elastic half-space. The method uses the fundamental solution for homogeneous elastostatics in the inhomogeneous domain owing to the lack of a fundamental solution in inhomogeneous elastodynamics.

The integral representation of displacements in the inhomogeneous domain is formulated with the help of this elastostatic fundamental solution by considering the term induced by the inhomogeneity of materials and the acceleration term as the body force term. Then the Green's matrix is obtained numerically from this integral representation and combined with the ordinary boundary integral equations, which are valid in the exterior homogeneous half-space.

Some numerical examples show the efficiency and the versatility of this coupled method.     

Modeling a swimming fish with an initial boundary value problem: Unsteady maneuvers of an elastic plate with internal force generation

In order to model unsteady maneuvers in swimming fish, we develop an initial-boundary value problem for a fourth-order hyperbolic partial differential equation in which the fish's body is treated as an inhomogeneous elastic plate. The model is derived from the three-dimensional equations of elastic dynamics, and is essentially a simple variant of the classical Kirchhoff model for a dynamic plate. The model incorporates body forces generating moment to simulate muscle force generation in fish. The initial-boundary value problem is reduced to a beam model in one spatial dimension and formulated computationally using finite differences. Interaction with the surrounding water is represented by nonlinear viscous damping. Two example applications using simple but physically reasonable physiological parameters are presented and interpreted. One models the acceleration from rest to steady swimming, the other a rapid turn from rest.     

The topology of the zero-level lines of the components of the acceleration vector in subsonic flows

The steady subsonic flow past bodies of finite dimensions, when the stream is unbounded and uniform at infinity is considered. The structure formed by the stationary points (points where both components of the acceleration vector vanishes), by the zero-level of the components of the acceleration vector emerging from them and the body past which the flow occurs is studied. It is shown that each of the above-mentioned lines must reach the surface of the body past which the flow takes place. This fact, in particular, enables one to estimate the overall number of streamlines with zero curvature emerging from the stationary points in terms of the number of zeros of the curvature of the streamlines on the body around which the flow takes place, including the branch points of a dividing streamline. With a view to refining the above mentioned number of zeros, the known solution for the neighbourhoods of the branch points of a streamline is considered and the singularity of the flow in the neighbourhoods of points of discontinuity of the curvature of the wall around which the flow occurs is investigated. In order to illustrate the above, certain properties of the flow past convex bodies are refined and a fairly broad class of so-called convex-concave bodies with zero angle of tapering of the trailing edge is constructed and considered. It is shown that, for this body, there are not more than four zeros of the curvature of the streamline and, as a consequence, there are no branch points of the isobars and isoclines in the flow field, including at infinity, an infinitely distant point is the sole stationary point and, most important of all, in the case of the flow past the given bodies the values of the circulation and the lifting force cannot vanish. The mathematical apparatus employed is based on the equations of gas dynamics constructed earlier for certain combinations of the components of the acceleration vector.     

On the solutions of a dynamic contact problem for a thermoelastic von Kármán plate

We study a dynamic contact problem for a thermoelastic von Kármán plate vibrating against a rigid obstacle. The plate is subjected to a perpendicular force and to a heat source. The dynamics is described by a hyperbolic variational inequality for deflections. The parabolic equation for a thermal strain resultant contains the time derivative of the deflection. We formulate a weak solution of the system and verify its existence using the penalization method. A detailed analysis of the velocity, acceleration, and reaction force of the solution is given. The singular nature of the dynamic contact makes it necessary to treat the acceleration and contact force as time-dependent measures with nonzero singular parts in the zones of contact. Accordingly, the velocity field over the plate suffers (global) jumps at a countable number of times with natural physical interpretations of the signs of the jumps.     

Interaction of a Solitary Wave with an External Force Moving with Variable Speed

The interaction of a solitary wave with an external force moving with constant acceleration is studied within the forced Korteweg-de Vries equation. For the case of a weak isolated force an asymptotic model based on equations for the amplitude and position of the solitary wave is developed. Phase portraits for this asymptotic system are obtained analytically and numerically. Analysis has shown that an accelerated force of either sign can capture a solitary wave if the acceleration is less than a certain critical value, depending on the forcing amplitude (for the case of a constant force speed only a positive force can capture a solitary wave). Direct numerical simulation of the forced Korteweg-de Vries equation has confirmed the predictions of the asymptotic model. Also, it is shown numerically that the accelerated force can capture more than one solitary wave.     

随机激励下四自由度车辆-道路耦合系统动力分析

采用四自由度车辆模型,以 Gauss平稳随机过程模拟路面的不平整度,编制程序得到不同路面等级下的不平整度序列;并将车辆和道路看作一个相互作用的整体系统,建立了车辆 道路耦合系统的动力平衡方程.在对车辆施加随机激励时,为了简化分析过程,避开以往研究中使用随机振动理论求解动轮胎力的复杂性,将得到的路面不平整度序列,直接以向量的形式输入到所建立的动力平衡方程中.基于增量形式的Newmark-β法开发了一个MATLAB程序对该方程进行求解.并对所提出的理论模型进行了试验验证,证明了模型的可靠性.随后,通过一个实例,分析了车速变化、路面等级变化对车辆动荷载系数和车体垂向加速度的影响.最后,对不同路基刚度对车辆振动特性的影响规律进行了探讨.     

Pulsatile flow of particle-fluid suspension model of blood under periodic body acceleration

A particle-fluid suspension model is applied to the problem of pulsatile blood flow through a circular tube under the influence of body acceleration. With the help of finite Hankel and Laplace transforms, analytic expressions for axial velocity for both fluid and particle phase, fluid acceleration, wall shear stress and instantaneous flow rate have been obtained. It is observed that the solutions can be used for all feasible values of pulsatile and body acceleration Reynolds numbers R_p and R_b. Using physiological data, the following qualitative and quantitative results have been obtained. The amplitude Q_b of instantaneous flow rate due to body acceleration decreases as the tube radius decreases. The effect of the volume fraction of particle C on Q_b is to increase it with increase of C in arteriole and to decrease Q_b as C increases in coronary and femoral arteries. The maximum of the axial velocity and fluid acceleration shifts from the axis of the tube to the vicinity of the tube wall as the tube diameter increases. The effect of C on the velocity and acceleration are nonuniform. The wall shear amplitude t_b\tau_b due to body acceleration increases as the tube diameter decreases from femoral to coronary and a further decrease in the tube diameter leads to a decrease in t_b\tau_b. The effects of C on t_b\tau_b are again nonuniform.     

Gyroscopic signal smoothness assessment by geometric jolt estimation

The present contribution focuses on the estimation of the geometric acceleration and of the geometric jolt (namely, the derivative of the acceleration) of a multidimensional, structured gyroscopic signal. A gyroscopic signal encodes the instantaneous orientation of a rigid body during a full three‐dimensional rotation that is regarded as a trajectory in the curved space SO(3) of the special orthogonal matrices. The geometric acceleration and jolt associated to a gyroscopic signal are evaluated through the rules of calculus prescribed by differential geometry. Such an endeavor is motivated by recent studies on the smoothness of human body movement in biomechanical engineering, sports science, and rehabilitation neuroengineering. Two indexes of smoothness are compared, namely, a normalized proper geometric acceleration index and a normalized proper geometric jolt index. Our investigation concludes that, in the considered experiments with measured signals, for relatively low values of the acceleration and of the jolt indexes, such indexes are strongly positively correlated. Copyright © 2017 John Wiley & Sons, Ltd.     

Nonlinear mathematical analysis for blood flow in a constricted artery under periodic body acceleration

This study analyses the pulsatile flow of blood through mild stenosed narrow arteries, treating the blood in the core region as a Casson fluid and the plasma in the peripheral layer as a Newtonian fluid. Perturbation method is employed to solve the resulting coupled implicit system of non-linear partial differential equations. The expressions for shear stress, velocity, wall shear stress, plug core radius, flow rate and longitudinal impedance to flow are obtained. The effects of pulsatility, stenosis depth, peripheral layer thickness, body acceleration and non-Newtonian behavior of blood on these flow quantities are discussed. It is noted that the plug core radius, wall shear stress and longitudinal impedance to flow increase as the yield stress and stenosis depth increase and they decrease with the increase of the body acceleration, pressure gradient, width of the peripheral layer thickness. It is observed that the plug flow velocity and flow rate increase with the increase of the pulsatile Reynolds number, body acceleration, pressure gradient and the width of the peripheral layer thickness and the reverse behavior is found when the yield stress, stenosis depth and lead angle increase. It is also recorded that the wall shear stress and longitudinal impedance to flow are considerably lower for the two-fluid Casson model than that of the single-fluid Casson model. It is found that the presence of body acceleration and peripheral layer influences the mean flow rate and mean velocity by increasing their magnitude significantly in the arteries.     

Variational analysis of a plasma-arc armature inside a railgun solid-hydrogen-pellet accelerator for fueling fusion reactors

The physical properties of a plasma-arc armature inside a hydrogen-pellet injector composed of a two-stage electromagnetic railgun are calculated by solving appropriate governing equations under simplifying assumptions. A variational method is employed to solve the temperature equation with the constraints that the variational integral must be minimized for a given plasma arc current and that the global enthalpy must be conserved. The magnetic field and the propulsive force of the railgun are calculated by modeling each current path as a composite of straight lines. The resulting railgun force is compared with the data from a recent hydrogen-pellet acceleration experiment at the University of Illinois, with reasonable agreement.     

The Extended Relativity Theory in Clifford Phase Spaces and Modifications of Gravity at the Planck/Hubble Scales

We extend the construction of Born’s Reciprocal Phase Space Relativity to the case of Clifford Spaces which involve the use of polyvectors and a lower/upper length scale. The generalized polyvector-valued velocity and acceleration/force boosts in Clifford Phase Spaces is presented and we find an explicit Clifford algebraic realization of the velocity and acceleration/force boosts in ordinary phase space. Finally, we provide a Clifford Phase-Space Gravitational Theory based in gauging the generalization of the Quaplectic group and invoking Born’s reciprocity principle between coordinates and momenta (maximal speed of light velocity and maximal force). The generalized gravitational vacuum field equations are explicitly displayed. We conclude with a brief discussion on the role of higher-order Finsler geometry in the construction of extended relativity theories with an upper and lower bound to the higher order accelerations (associated with the higher order tangent and cotangent spaces).     

The stability of the relative equilibrium in an Earth–Moon orbital station system with a small reactive acceleration

The problem of stabilizing the relative equilibrium of an orbital station in an Earth–Moon system by imparting a small constant-modulus acceleration with constant orientation of its vector with respect to the body of the station, which is assumed to be a rigid body of variable mass, is considered. It is shown that, in the case of a small displacement of the centre of mass of the station (by means of a small reactive acceleration) with respect to the collinear libration point beyond the Moon, its relative equilibrium position can become stable by virtue of the equations of the first approximation.     

Time-optimal motion planning along prescribed paths with friction and power constraints

Time-optimal motion planning along specified paths is a well-understood problem in robotics for which well-established methods exist for some standard effects, such as actuator force limits, maximal path velocity, or sliding friction. This paper describes an extension of the classical method that allows for considering, on the one hand side, additional non linear constraints such as sticking friction, acceleration limits at the end-effector, as well power limits for the overall system, and on the other, general paths featuring smooth interpolation of angular acceleration as well as arbitrary multibody systems comprising multiple loops. The methods are illustrated with two applications from robotics and the mining industry. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

A New approach to finding the control that transports a system from one phase state to another

In their previous papers, the authors have considered the possibility of applying the theory of motion for nonholonomic systems with high-order constraints to solving one of the main problems of the control theory. This is a problem of transporting a mechanical system with a finite number of degrees of freedom from a given phase state to another given phase state during a fixed time. It was shown that, when solving such a problem using the Pontryagin maximum principle with minimization of the integral of the control force squared, a nonholonomic high-order constraint is realized continuously during the motion of the system. However, in this case, one can also apply a generalized Gauss principle, which is commonly used in the motion of nonholonomic systems with high-order constraints. It is essential that the latter principle makes it possible to find the control as a polynomial, while the use of the Pontryagin maximum principle yields the control containing harmonics with natural frequencies of the system. The latter fact determines increasing the amplitude of oscillation of the system if the time of motion is long. Besides this, a generalized Gauss principle allows us to formulate and solve extended boundary problems in which along with the conditions for generalized coordinates and velocities at the beginning and at the end of motion, the values of any-order derivatives of the coordinates are introduced at the same time instants. This makes it possible to find the control without jumps at the beginning and at the end of motion. The theory presented has been demonstrated when solving the problem of the control of horizontal motion of a trolley with pendulums. A similar problem can be considered as a model, since when the parameters are chosen correspondingly it becomes equivalent to the problem of suppression of oscillations of a given elastic body some cross-section of which should move by a given distance in a fixed time. The equivalence of these problems significantly widens the range of possible applications of the problem of a trolley with pendulums. The previous solution of the problem has been reduced to the selection of a horizontal force that is a solution to the formulated problem. In the present paper, it is offered to seek an acceleration of a trolley with which it moves by a given distance in a fixed time, as a time function but not a force applied to the trolley, while the velocities and accelerations are equal to zero at the beginning and end of motion. In this new problem, the rotation angles of pendulums are the principal coordinates. This makes it possible to find a sought acceleration of a trolley on the basis of a generalized Gauss principle according to the technique developed before. Knowing the motion of a trolley and pendulums it is easy to determine the required control force. The results of numerical calculations are presented.     

What part of the concept of acceleration is difficult to understand: the mathematics, the physics, or both?

In this paper, details of student difficulties in understanding the concept of acceleration and the mathematical and physical/intuitive sources of these are delineated by utilizing the teaching experiment methodology. As a result of the study, two anchoring analogies are proposed that can be used as a diagnostic tool for students’ alternative conceptions. These can be used in teaching to highlight the peculiarity of acceleration concept. This study portrays how seeing acceleration as ‘rate of change’ of a quantity (velocity) and recognizing the consequences of such a definition are hindered in certain ways which in turn negatively affect learning the concept of force. This is also an example that illustrates that a rather “simple” mathematical concept (i.e., rate of change) for the expert can become a complex phenomenon when embedded in a physical concept (i.e., acceleration) which is consistently found to be as a misconception among learners at various levels that is widely occurring and very resistant to change.     

A probabilistic description of footbridges vibration serviceability

Vibration serviceability of pedestrian bridges is considered. Imperfections in the human walking force are described as changes in walking factors. Probability distributions of walking frequencies, step length, and amplitude of walking force are taken into account. The imperfections can influence the level of footbridge vibration response. The Monte Carlo method is applied. The generated realizations of the loads formulate a set of initial data for numerical calculations. The probability distribution of maximal vertical acceleration is obtained. The results are presented as a probability that the required level of vibration will not be exceeded. A reliability describing the footbridges serviceability is also estimated. The probabilistic based approach can be used for future optimalizations of footbridge design codes due to the dynamic force loads. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Analysis and optimization of the motion of a body controlled by means of a movable internal mass

The controlled horizontal motion of a body in the presence of dry friction forces is investigated. Control is accomplished by means of a movable mass that can move within the body in a bounded range. Some simple modes of periodic relative motions of the movable mass, under which the entire system moves as a whole, are investigated. Constraints are imposed on the relative displacement, velocity and acceleration of the movable mass. The optimum parameters of this relative motion, under which the maximum mean velocity of the body is reached, are determined.     

Optimal control of the rectilinear motion of a two-body system in a resistive medium

The rectilinear motion of a two-body system is considered. One of the bodies (the main body) interacts with a resistive environment, while the other body (the internal body) interacts with the main body but does not interact with the environment. The force applied to the internal body leads to a reaction that acts on the main body and produces a change in its velocity, which causes a change in the resistance of the environment to the motion of the main body. Thus, by controlling the motion of the internal body, one can control the external force acting on the main body and, as a consequence, the motion of the entire system. A periodic motion of the internal body relative to the main body, which generates the motion of the main body with periodically changing velocity and the maximum displacement for the period, is constructed for a wide class of laws of resistance of the environment to the motion of the main body.The principle of motion considered is appropriate for mobile mini- and micro-robots. The body (housing) of such robots can be hemetically sealed and smooth, without protruding parts, which enables these robots to be used for the non-destructive inspection of miniature engineering structures such as thin pipe-lines, as well as in medicine. Problems of optimizing the control modes for such systems are of interest both to researchers in the field of optimal control and to specialists in applied mechanics and robotics.     

On the linearized theory op flow around bodies. Method of force sources

The method of force sources is proposed for solving linear problems related to the interaction between rigid bodies, and fluids, or gases. Method is based on the introduction of perturbation force sources into equation of motion of fluid media. Boundary conditions at the rigid body surface make it possible to reduce the problem of hydrodynamic reactions to an integral equation defining the function of force sources. Method is illustrated by the solution of three simple problems in the field of acoustics, and of viscous, and compressible media flow around bodies.

In the linearized theory of flow around rigid bodies, as well as in acoustics, an important part of the sound wave generation analysis concerns the determination of hydrodynamic reactions of the medium on moving, pulsating, or oscillating bodies. Such reactions make themselves felt as constant, or variable mechanical forces, such as drag and lift, or in the case of sound wave emitters, as the wave resistance. Various methods had been proposed for the computation of such forces, as for example, in the monographs [1 to 6].

Here, a different approach to the problem of determination of surface forces exerted by liquids and gases on the rigid body is proposed. By resorting to the formalism of the generalized functions it is possible to introduce into the equations of motion of fluid media a perturbation source in the form volume density of forces exercised by the body on the gas. The distribution of surface tension entering into the expression of this force is selected in such a manner as to satisfy boundary conditions at the body surface. It becomes possible with the use of this device to reduce the problem of determination of forces acting on the body surface to the solution of certain Integral equations. The proposed method is in all respects completely analogous to the well-known method of sources and sinks [1 to 1]. Both methods reduce the problem of interaction between body and gas to the solution of Integral equations. The method of sources and sinks, however, leads to an integral equation which describes the distribution of fictitious sources and sinks in the volume of the body having the density of the medium, while the method of force sources yields an integral equation which directly defines the distribution of mechanical forces over the surface of the body (*).

We may note that the method of force sources had to a certain extent been already used in papers [6 and 7] for the determination of sound radiation by means of point-force sources.     

Adiabatic invariants,diffusion and acceleration in rigid body dynamics

The onset of adiabatic chaos in rigid body dynamics is considered. A comparison of the analytically calculated diffusion coefficient describing probabilistic effects in the zone of chaos with a numerical experiment is made. An analysis of the splitting of asymptotic surfaces is performed and uncertainty curves are constructed in the Poincaré–Zhukovsky problem. The application of Hamiltonian methods to nonholonomic systems is discussed. New problem statements are given which are related to the destruction of an adiabatic invariant and to the acceleration of the system (Fermi’s acceleration).