Partial Fourier approximation of the Lamé equations in axisymmetric domains

In this paper, we study the partial Fourier method for treating the Lamé equations in three‐dimensional axisymmetric domains subjected to non‐axisymmetric loads. We consider the mixed boundary value problem of the linear theory of elasticity with the displacement û , the body force f̂ ϵ (L₂)³ and homogeneous Dirichlet and Neumann boundary conditions. The partial Fourier decomposition reduces, without any error, the three‐dimensional boundary value problem to an infinite sequence of two‐dimensional boundary value problems, whose solutions û _n (n = 0, 1, 2,…) are the Fourier coefficients of û . This process of dimension reduction is described, and appropriate function spaces are given to characterize the reduced problems in two dimensions. The trace properties of these spaces on the rotational axis and some properties of the Fourier coefficients û _n are proved, which are important for further numerical treatment, e.g. by the finite‐element method. Moreover, generalized completeness relations are described for the variational equation, the stresses and the strains. The properties of the resulting system of two‐dimensional problems are characterized. Particularly, a priori estimates of the Fourier coefficients û _n and of the error of the partial Fourier approximation are given. Copyright © 1999 John Wiley & Sons, Ltd.     

Fourier–Finite-element Approximation of Elliptic Interface Problems in Axisymmetric Domains

The paper deals with the Fourier-finite-element method (FFEM), which combines the approximate Fourier method with the finite-element method, and its application to Poisson-like equations −p̂Δ₃û = f̂ in three-dimensional axisymmetric domains Ωˆ. Here, pˆ is a piecewise constant coefficient having a jump at some axisymmetric interface. Special emphasis is given to estimates of the Fourier-finite-element error in the Sobolev space H¹(Ωˆ), if the interface is smooth or if it meets the boundary of Ωˆ at some edge. In general, the solution û contains a singularity at the interface, which is described by a tensor product representation and treated numerically by appropriate mesh grading in the meridian plane of Ωˆ. The rate of convergence of the combined approximation in H¹(Ωˆ) is proved to be 𝒪(h+N⁻¹) (h, N: the parameters of the finite-element- and Fourier-approximation, with h→0, N→∞). The theoretical results are confirmed by numerical experiments.     

Matrix formulation of the motion equations of a rigid body and identification of the ten inertia characteristics

The motion equations of a rigid body involve ten inertial characteristics: the mass, the mass center position and the inertia matrix. In order to identify these ten inertia characteristics, we propose an approach unifying them in a 4 × 4 positive definite symmetric matrix. The translation vector and the rotation matrix of the rigid body are also gathered in a 4 × 4 matrix. Therefore the motion equations are formulated as an equality between 4 × 4 skew–symmetric matrices: one representing the sum of external forces and torques, the second representing the dynamic force and torque. The identification is performed by a projected conjugate gradient algorithm developped in the 10–dimensional linear space of 4 × 4 symmetric matrices. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Formation patterns at the air-grain interfaces in spinning granular films at high rotation rates

Experimental and numerical studies are described in which a thin film of air-immersed grains is spun in vertical and tilted containers about their axis. At high rotation rates a steep depression appears around the axis of rotation. Interesting fractal type patterns with dimension D = 1.7 ± 0.05 are observed at the air-grain interfaces in the depression. By utilizing computer simulations, it is shown that the fractal-like patterns may be associated with a sharp deformation of the volume occupied by the particles within the depression hole due to turbulent diffusion.     

Integrable cases of the problem of the free motion of a gyrostat

The free spatial motion of a gyrostat in the form of a carrier body with a triaxial ellipsoid of inertia and an axisymmetric rotor is considered. The bodies have a common axis of rotation, which coincides with one of the principal axes of inertia of the carrier. In the Andoyer–Deprit variables the equations of motion reduce to a system with one degree of freedom. Stationary solutions of this system are found, and their stability is analysed. Cases in which the longitudinal moment of inertia of the carrier is greater than the largest of the transverse moments of inertia of the system of bodies, is smaller than the smallest or belongs to a range composed of the moments of inertia indicated, are investigated. General analytical solutions that describe the motion on separatrices and in regions corresponding to oscillations and rotation on the phase portrait are obtained for each case. The results can be interpreted as a development of the Euler case of the motion of a rigid body about a fixed point when one degree of freedom, namely, relative rotation of the bodies, is added.     

The problem of the time-optimal turning of a manipulator

Two types of manipulator that perform three-dimensional motions are considered, and the control problem in which the manipulator rotation is performed in minimum time is studied. The rate of rotation of a rigid body about an axis rises as the moment of inertia about this axis falls. Manipulator control amounts to a problem of the rotation of a system of rigid bodies about an axis. In addition to the angle of rotation, there is a further controlled coordinate, whose variation can vary the moment of inertia about the axis. Assuming that the moment of inertia can be stantaneously “frozen” (that pulse control signals are possible), the in-time-optimal control modes were found in /1, 2/, (see also Akulenko, L.D. et al., “Optimization of the control modes of manipulation robots”, Preprint 218, In-t. Problem Mekhaniki Akad. Nauk SSSR, Moscow 1983). In these modes, the rotation, occurs in the entire time interval with minimum moment of inertia about the axis of rotation. The rotation when there are constraints on the control (pulse control signals are not permitted) was considered in /3/. Numerical studies there led to the false conclusion that, in the optimal motion, with a finite number of control switchings, the moment of inertia is also a minimum throughout the time interval. Below, for a set of extreme configurations, a control is constructed for the two types of manipulator, which satisfies the Pontryagin maximum principle, when there are constraints on the control signals. During its rotation the manipulator section then performs oscillations about a position corresponding to minimum moment of inertia about the axis of rotation. It is shown that the motion considered in /3/, which contains a singular mode with minimum moment of inertia, is not optimal. The motion which satisfies the maximum principle is compared with it. There can be a singular mode in the optimal motion /4/ only when the number of control switchings is infinite.     

Conservative methods of controlling the rotation of a gyrostat

A method for shaping the control of the rotation of a gyrostat consisting of a rigid body, within which there are three rotors rotating about non-coplanar axes rigidly connected to the body, is discussed. The state of the system is defined by the position and angular velocity of rotation of the body, as well as by the angular velocities of the rotors. Control is achieved by torques applied to the rotors. The idea behind the proposed control method is to choose the controlling torques so that the angular velocities of rotation of the rotors are linear functions of the components of the angular velocity vector of the body. The linear dependence thus specified defines a 3 × 3 matrix, that is, a “controlled inertia tensor.” This matrix, which is specified by the parameters of the control selected, does not necessarily have the properties of an inertia tensor. As a result of such a choice of controls, the equations that define the variation of the angular velocity of the body are written in a form similar to Euler's dynamical equations. The system of equations obtained is used to formulate and solve problems of controlling the angular motion of a satellite in a circular orbit. The proposed method for constructing controlling actions enables both the Lagrangian structure of the equations of motion and the fundamental symmetries of the problem to be maintained. Expressions for the torques acting on the rotors and realizing the motion of the required classes are written in explicit form.     

An investigation of stock price dynamics in emerging markets

The emergence of stock markets in former centrally planned economies poses a significant problem to financial economists and policy makers in that price movements in these markets are not well explained by conventional capital theory. The opening of stock markets brings about a new equilibrium value P̂ for the firm. Shares are floated on an estimate of P̂, and buyers of these shares and individuals trading in the secondary market are also obliged to do so on the basis of their estimates of this magnitude. At any time, the market price of the firm's shares then reflects the market's best guess of what its value would be in the new equilibrium, and information on which to calculate estimates become more readily available as the stock market matures. This paper presents a stochastic price model which takes all of these factors into consideration. The model also provides a theoretical foundation underlying the pronounced trends of prices in emerging stock markets, and explains why they appear to be so volatile. © 1998 John Wiley & Sons, Ltd.     

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].     

On the fast rotation of a heavy rigid body about a fixed point

Fast rotation of a symmetric heavy rigid body about a fixed point (the kinetic energy is large in comparison with the potential) is considered in cases when the resonance equations of Euler's motion /1, 2/ are approximately satisfied at the initial instant (the body is assumed to effect turns, ε is small, during time . It is shown that during that time ( ) a finite deviation from inertial motion takes place. Such mechanical effect is similar to the precession of a fast top, except that it is more “early” (in the considered time scale the top precession is slow). Approximate equations that define the motion in the principal order and are integrable in quadratures. The formal process of derivation of higher approximations is indicated, and a geometric interpretation of motions is given.     

Operator methods in the problem of perturbed motion of a rotating body partially filled with liquid

We apply operator methods to the investigation of an initial boundary-value problem which describes the perturbed motion of a body with cavity partially filled with an ideal liquid relative to the uniform rotation of this system about a fixed axis. We prove the existence and uniqueness of generalized solutions with finite energy and establish a sufficient condition for the stability of motion and some properties of the spectrum of the problem under consideration.     

The limiting steady rotations of a body on a string with a suspension point on the axis of symmetry

The steady motions of an axisymmetrical rigid body suspended from a fixed base by a weightless undeformable rod or a non-twisting inextensible string are investigated. The case when the rod is fastened to the body at a point situated on its axis of dynamic symmetry is considered. All types of limiting equilibrium configurations which are possible when there is an unlimited increase in the angular velocity of rotation of the system about the vertical are analysed. Domains in which each type of limiting regular precession and permanent rotation can exist are constructed in the space of dimensionless parameters, and the nature of their asymptotic behaviour when the angular velocity increases is determined. The limiting motions which are possible in the case of suspension on a rod and impossible in the case of suspension on a string are investigated.     

On the stability of the vertical rotation of a solid suspended on a rod

The problem of the motion of a dynamically symmetric solid suspended from a fixed point by a weightless rod and two ball and socket joints one of which is fixed at the fixed point O', and the other is on the body axis of symmetry at the point O is considered. The question of the stability of the uniform body rotation when points O' and O, and the body centre of inertia C lie on the same vertical, and at the same time point O may be either above or below point O', and point C either above or below point O, is discussed. An analysis of the necessary and sufficient conditions for stability is given. The set of all the system's parameters is reduced to three independent dimensionless parameters L, Ω and β, and in the plane (L, Ω), for fixed values of β, the regions for which the unperturbed rotation is steady, or steady to a first approximation, or non-steady are indicated. The regions for which the body rotation is steady to a first approximation when the point O is situated higher than the point O', and the point C lies higher or lower than the point O are determined.

The sufficient conditions for the vertical rotation of a dynamically symmetric body suspended on a filament were obtained in /1/ and investigated for the cases where in non-perturbed motion the point C is below point O, when points C and O coincide, and when the length of the filament is zero (Lagrange gyroscope). In /2/ an analysis is given of the sufficient conditions for stability obtained in /1/, and also the necessary conditions for the cases where in a non-perturbed motion point C is located above point O.     

Exact solutions of some mixed problems of uncoupled thermoelasticity for a truncated hollow circular cone with a groove along the generatrix

An elastic body of finite dimensions in the form of a truncated hollow circular cone with a groove along the generatrix is considered. The uncoupled problem of thermoelasticity is formulated for this body for different types of boundary conditions on all the surfaces. These are the conditions for specifying the displacements or sliding clamping on surfaces with fixed angular coordinates and the conditions for specifying the stresses on surfaces with a fixed radial coordinate (shear stresses are assumed to be zero). It is assumed that the temperature is a specified function of all the spherical coordinates. Some auxiliary functions, related to the displacements, are introduced first, and equations for these functions are then derived using Lamé's equations. A finite integral Fourier transformation with respect to one of the angular variables is then employed. After this, by solving certain Sturm-Liouville problems, a new integral transformation is constructed and is applied to the equations with respect to the other angular variable. As a result a one-dimensional system of differential equations is obtained, to solve which an integral Mellin transformation is employed in a special way. Finally, exact solutions of some problems of thermoelasticity are constructed in series for this body.     

Stability of rotation of a vane in a flow

The results of investigation of the stability of permanent rotation of a four-blade vane on a weightless rod in the flow of a homogeneous medium are discussed. The rod rotates about a fixed point where a spherical joint is situated. The vane rotates about the second joint fixed at the other end of the rod. The stability of permanent rotation of the vane is studied when the rod coincides with the dynamic symmetry axis of the vane. The results are compared with the one-joint case. It is shown that increasing the number of degrees of freedom leads to “diminishing” the stability domain projection onto the corresponding subspace of parameters. __________ Translated from Fundamentalnaya i Prikladnaya Matematika, Vol. 11, No. 7, pp. 73–95, 2005.     

Hybrid coordinate approach for the modelling and simulation of multibody systems

The main goal of the present work is to provide an add-on scheme for the formulation of multibody dynamics, based on natural coordinates, in regard to ideally balanced rigid bodies with high rotational spin, e.g. gyroscopes. The underlying aim of this approach is to achieve higher numerical accuracy whenever the preferred axis of rotation coincides with the balanced main axis of the body. This will be achieved by seperating the spin of the balanced rigid body along the denoted axis as an additional angular coordinate, whereas the other rotations will be covered by a carried frame, parameterized via natural coordinates. At the same time the carried frame provides a link to the existing modelling framework in terms of natural coordinates, enabling a straightforward implementation into existing multibody systems (e.g. rotary crane [2]). (© 2012 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Viscous and inviscid magneto-hydrodynamics equations

In this paper we study the classical problem in turbulence for the magneto-hydrodynamics (MHD) equations: whether the solutions (u ^(v),B ^(v)) of the viscous MHD equations tend to the solutions (u ⁽⁰⁾,B ^(v)) of the inviscid MHD equations as the Reynolds numbersRe, Rm → ∞. As a preparation we first derive bounds for ||(u ⁽⁰⁾,B ⁽⁰⁾(t)||H ^m) (m ≥3) in terms of deformation tensor related quantities (0.1) {ie251-1} We then show that asRe → ∞ andRm → ∞, the difference {ie-251-2} {ie-251-3} converges to zero uniformly int as long as the quantities in (0.1) remain finite. The convergence rates are explicit. Supported by the NSF grant DMS 9304580 at IAS.     

Quantum projective field theory: Quantum-field analogs of the Euler formulas

Quantum-field analogs of Euler's formulas for rotation of a rigid body around a fixed axis in projective (sl(2, )-invariant) field theory on the Rtemann sphere are presented. A class of quasistationary angular fields, the analogs of the angular velocity, is introduced. A sufficient condition for quasistationarity is obtained.Moscow State University; Research Institute of Information Technologies. Translated from Teoreticheskaya i Matematicheskaya Fizika, Vol. 92, No. 1, pp. 172–176, July, 1992.     

On the controllability of a robot arm

Considered is the rotation of a robot arm or rod in a horizontal plane about an axis through the arm's fixed end and driven by a motor whose torque is controlled. The model was derived and investigated computationally by Sakawa and co-authors in [7] for the case that the arm is described as a homogeneous Euler beam. The resulting equation of motion is a partial differential equation of the type of a wave equation which is linear with respect to the state, if the control is fixed, and non-linear with respect to the control. Considered is the problem of steering the beam, within a given time interval, from the position of rest for the angle zero into the position of rest under a certain given angle. At first we show that, for every L²-control, there is exactly one (weak) solution of the initial boundary value problem which describes the vibrating system without the end condition. Then we show that the problem of controllability is equivalent to a non-linear moment problem. This, however, is not exactly solvable. Therefore, an iteration method is developed which leads to an approximate solution of sufficient accuracy in two steps. This method is numerically implemented and demonstrated by an example. © 1998 by B. G. Teubner Stuttgart–John Wiley & Sons Ltd.