Comparison of complete integrability cases in dynamics of a two-, three-, and four-dimensional rigid body in a nonconservative field

We present complete results devoted to the study of the equations of motion of a dynamically symmetric four-dimensional rigid body in a nonconservative force field. The form of the body is taken from the dynamics of real two- or three-dimensional rigid bodies interacting with a resisting medium according to the streamline flow around laws under which a non-conservative pair of forces acts on the body and forces the body center of mass to move rectilinearly and uniformly.     

Stability of a Generalized Sobolev System

The linear stability problem of the rotational motion of a rigid body around a fixed point containing an inner cavity filled up with an ideal fluid is considered. In this paper, we also assume that the fluid is rotating. The effect of the angular velocities of the rigid body and the fluid in the stability problem is studied. The case of a cavity ellipsoidal is presented in detail.     

A Lagrange multiplier/fictitious domain method for the numerical simulation of incompressible viscous flow around moving rigid bodies: (I) case where the rigid body motions are known a priori

We describe in this Note a method for the numerical simulation of incompressible viscous flow around moving rigid bodies; we suppose the rigid body motions a priori known. The computational technique takes advantage of a time discretization by operator splitting à la Marchuk-Yanenko and of a finite element space discretization on a fixed mesh, to combine a Lagrange multiplier/fictitious domain treatment of the rigid body motions with an L²-projection technique, to force the incompressibility condition. The results of numerical experiments concerning flow around moving disks at Reynolds number of the order of 100 are presented.     

On the orbital stability of pendulum-like motions of a rigid body in the Bobylev-Steklov case

We deal with the problem of orbital stability of pendulum-like periodic motions of a heavy rigid body with a fixed point. We suppose that the geometry of the mass of the body corresponds to the Bobylev-Steklov case. Unperturbed motion represents oscillations or rotations of the body around a principal axis, occupying a fixed horizontal position. The problem of the orbital stability is considered on the basis of a nonlinear analysis.     

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].     

Influence of vortex structures on the controlled motion of an above-water screwless robot

This paper is devoted to an experimental investigation of the motion of a rigid body set in motion by rotating two unbalanced internal masses. The results of experiments confirming the possibility of motion by this method are presented. The dependence of the parameters of motion on the rotational velocity of internal masses is analyzed. The velocity field of the fluid around the moving body is examined.     

The conditions for loss of stability of the rotation of a dynamically symmetrical rigid body suspended on a string with parametric perturbations

A dynamically symmetrical rigid body suspended on a string is considered. The suspension point performs periodic oscillations. The loss of stability of the system when it performs high-frequency rotations around the axis of dynamic symmetry is investigated. The sufficient conditions for loss of stability are obtained.     

Very weak solutions to the rotating Stokes,Oseen and Navier–Stokes problems in weighted spaces

We consider the linearized and nonlinear problems arising from the motion of fluid flow around a rotating rigid body. We are interested in very weak solutions of these problems.     

Quadratic integrals and the reducibility of the equations of motion of a complex mechanical system in a central field

A mechanical system, consisting of a non-variable rigid body (a carrier) and a subsystem, the configuration and composition of which may vary with time (the motion of its elements with respect to the carrier is specified), is considered. The system moves in a central force field at a distance from its centre which considerably exceeds the dimensions of the system. The effect of the system motion about the centre of mass on the motion of the centre of mass, which is assumed to be known, is ignored (the analogue of the limited problem [1] for a rigid body). The necessary and sufficient conditions for a quadratic integral of the motion around the centre of mass to exist are obtained in the case when there is no dynamic symmetry. It is shown that, for a quadratic integral to exist, it is necessary that the trajectory of the motion of the centre of mass should be on the surface of a certain circular cone, fixed in inertial space, with its vertex at the centre of the force field. If the trajectory does not lie on the generatrix of the cone, only one non-trivial quadratic integral can exist and the initial system, in the presence of this quadratic integral, reduces to autonomous form. For the motion of the centre of mass along the generatrix or the motion of the system around a fixed centre of mass, the necessary and sufficient conditions for a non-trivial quadratic integral to exist are obtained, which are generalizations of the energy integral, the de Brun integral [2] and the integral of the projection of the kinetic moment. When three non-trivial quadratic integrals exist, the condition for reduction to an autonomous system describing the rotation of the rigid body around the centre of mass and integrable in quadratures are indicated [3, 4].     

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.     

Rotating elastic bodies in Einstein gravity

We prove that, given a stress‐free, axially symmetric elastic body, there exists, for sufficiently small values of the gravitational constant and of the angular frequency, a unique stationary, axisymmetric solution to the Einstein equations coupled to the equations of relativistic elasticity with the body performing rigid rotations around the symmetry axis at the given angular frequency. © 2009 Wiley Periodicals, Inc.     

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.     

Numerical simulation of the sedimentation of a tripole-like body in an incompressible viscous fluid

In this note, we discuss the application of a methodology combining distributed Lagrange multiplier based fictitious domain techniques, finite-element approximations and operator splitting, to the numerical simulation of the motion of a tripole-like rigid body falling in a Newtonian incompressible viscous fluid. The motion of the body is driven by the hydrodynamical forces and gravity. The numerical simulation shows that the distribution of mass of this rigid body and added moment of inertia compared to a simple cylinder (circular or elliptic) plays a significant role on the particle-fluid interaction. Apparently, for the parameters examined, the action of the moving rigid body on the fluid is stronger than the hydrodynamic forces acting on the rigid body.     

On the Stability of Periodic Mercury-type Rotations

We consider the stability of planar periodic Mercury-type rotations of a rigid body around its center of mass in an elliptical orbit in a central Newtonian field of forces. Mercurytype rotations mean that the body makes 3 turns around its center of mass during 2 revolutions of the center of mass in its orbit (resonance 3:2). These rotations can be 1) symmetrical 2π- periodic, 2) symmetrical 4π-periodic and 3) asymmetrical 4π-periodic. The stability of rotations of type 1) was investigated by A.P.Markeev. In our paper we present a nonlinear stability analysis for some rotations of types 2) and 3) in 3rd- and 4th-order resonant cases, in the nonresonant case and at the boundaries of regions of linear stability.     

旋转刚柔耦合系统的模型及控制

旋转刚柔耦合系统在航空航天、机器人、高速机构以及车辆等领域有着广泛的应用,主要描述负载在旋转刚体上的柔性梁的运动。对旋转刚柔耦合系统施加控制使得整个闭环系统达到:1)旋转刚体以预期的旋转角速度运动;2)负载在刚体上的柔性梁镇定。本文将从控制器设计的角度出发,介绍目前在旋转刚柔耦合系统控制方面取得的主要研究成果。     

Existence of weak solutions for a Bingham fluid-rigid body system

We consider the motion of a rigid body in a viscoplastic material. This material is modeled by the 3D Bingham equations, and the Newton laws govern the displacement of the rigid body. Our main result is the existence of a weak solution for the corresponding system. The weak formulation is an inequality (due to the plasticity of the fluid), and it involves a free boundary (due to the motion of the rigid body). We approximate it by regularizing the convex terms in the Bingham fluid and by using a penalty method to take into account the presence of the rigid body.     

Linear stability of a system of Gauss vortices

The stability problems are studied of the rigid body rotation of a regular polygonal system of pointwise and Gauss vortices. A stability criterion is obtained for a system of Gauss vortices which generalizes an available criterion for stability of the rigid body rotation of a system of pointwise vortices. The influence of dispersion of the vorticity distribution on stability of rigid body rotation is studied. It is shown, that there is some finite value of dispersion whose achievement yields the stabilization of known unstable perturbations.     

Brownian dynamics of rigid body by fluctuating hydrodynamic equations

In this work, Brownian dynamics of rigid body in an incompressible fluid with fluctuating hydrodynamic equations is presented. To demonstrate the Brownian motion of rigid body, fluctuating hydrodynamic equations have been coupled with equations of motion of rigid body. Thermal fluctuation is included in the fluid equations via random stress terms unlike the random terms in the conventional Brownian dynamics type approach. Calculation of random stress terms in the fluid is easier in comparison to the random terms in the particle motion. Direct numerical simulation for the Brownian motion of rigid body with a meshfree framework is analysed. (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On integrability of the Euler-Poisson equations

We consider a special case of the Euler-Poisson system of equations, describing the motion of a rigid body around a fixed point. We find 44 sets of stationary solutions near which the system is locally integrable. Ten of them are real. We also study the number of these complex stationary solutions in 3-dimensional invariant manifolds of the system. We find that the number is 4, 2, 1, or 0. __________ Translated from Fundamentalnaya i Prikladnaya Matematika, Vol. 13, No. 1, pp. 45–59, 2007.     

Existence of solutions for the equations

We introduce a concept of weak solution for a boundary value problem modelling the interactive motion of a coupled system consisting in a rigid body immersed in a viscous fluid. The fluid, and the solid are contained in a fixed open bounded set of R3. The motion of the fluid is governed by the incompresible Navier-Stokes equations and the standard conservation's laws of linear, and angular momentum rules the dynamics of the rigid body. The time variation of the fluid's domain (due to the motion of the rigid body) is not known apriori, so we deal with a free boundary value problem. Our main theorem asserts the existence of at least one weak solution for this problem. The result is global in time provided that the rigid body does not touch the boundary