On the generalization of the Euler polynomials with the real parameters

In this study, we give multiplication formula for generalized Euler polynomials of order α and obtain some explicit recursive formulas. The multiple alternating sums with positive real parameters a and b are evaluated in terms of both generalized Euler and generalized Bernoulli polynomials of order α. Finally we obtained some interesting special cases.     

On the Lagrangian dynamics of the axisymmetric 3D Euler equations

We study the dynamics along the particle trajectories for the 3D axisymmetric Euler equations. In particular, by rewriting the system of equations we find that there exists a complex Riccati type of structure in the system on the whole of R³, which generalizes substantially the previous results in [5] (D. Chae, On the blow-up problem for the axisymmetric 3D Euler equations, Nonlinearity 21 (2008) 2053-2060). Using this structure of equations, we deduce the new blow-up criterion that the radial increment of pressure is not consistent with the global regularity of classical solution. We also derive a much more refined version of the Lagrangian dynamics than that of [6] (D. Chae, On the Lagrangian dynamics for the 3D incompressible Euler equations, Comm. Math. Phys. 269 (2) (2007) 557-569) in the case of axisymmetry.     

Efficient integration of flexible multibody dynamics

The modelling of flexible multibody dynamics as finite dimensional Hamiltonian system subject to holonomic constraints constitutes a general framework for a unified treatment of rigid and elastic components. Internal constraints, which are associated with the kinematic assumptions of the underlying continuous theory, as well as external constraints, representing the interconnection of different bodies by joints, can be accounted for in a likewise systematic way. The discrete null space method developed in [0] provides an energy-momentum conserving integration scheme for the DAEs of motion of constrained mechanical systems. It relies on the elimination of the constraint forces from the discrete system along with a reparametrisation of the nodal unknowns. The resulting reduced scheme performs advantageously concerning different aspects: the constraints are fulfilled exactly, the condition number of the iteration matrix is independent of the time step and the dimension of the system is reduced to the minimal possible number saving computational costs. A six-body-linkage possessing a single degree of freedom is analysed as an example of a closed loop structure. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Inverse dynamics of underactuated multibody systems

The present work deals with controlled mechanical systems subject to holonomic constraints. In particular, we focus on underactuated systems, defined as systems in which the number of degrees of freedom exceeds the number of inputs. The governing equations of motion can be written in the form of differential-algebraic equations (DAEs) with a mixed set of holonomic and control constraints. The rotationless formulation of multibody dynamics will be considered [1]. To this end, we apply a specific projection method to the DAEs in terms of redundant coordinates. A similar projection approach has been previously developed in the framework of generalized coordinates by Blajer & Kołodziejczyk [2]. (© 2009 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The Drazin inverse in multibody system dynamics

Summary The numerical analysis of multibody system dynamics is based on the equations of motion as differential-algebraic systems. A thorough analysis of the linearized equations and their solution theory leads to an equivalent system of ordinary differential equations which gives deeper insight into the derivation of integration schemes and into the stabilization approaches. The main tool is the Drazin inverse, a generalized matrix inverse, which preserves the eigenvalues. The results are illustrated by a realistic truck model. Finally, the approach is extended to the nonlinear index 2 formulation.     

Optimization-based simulation of nonsmooth rigid multibody dynamics

We present a time-stepping method to simulate rigid multibody dynamics with inelastic collision, contact, and friction. The method progresses with fixed time step without backtracking for collision and solves at every step a strictly convex quadratic program. We prove that a solution sequence of the method converges to the solution of a measure differential inclusion. We present numerical results for a few examples, and we illustrate the difference between the results from our scheme and previous, linear-complementarity-based time-stepping schemes.     

Interval modeling of dynamics for multibody systems

Modeling of multibody systems is an important though demanding field of application for interval arithmetic. Interval modeling of dynamics is particularly challenging, not least because of the differential equations which have to be solved in the process. Most modeling tools transform these equations into a (non-autonomous) initial value problem, interval algorithms for solving of which are known. The challenge then consists in finding interfaces between these algorithms and the modeling tools. This includes choosing between “symbolic” and “numerical” modeling environments, transforming the usually non-autonomous resulting system into an autonomous one, ensuring conformity of the new interval version to the old numerical, etc. In this paper, we focus on modeling multibody systems’ dynamics with the interval extension of the “numerical” environment MOBILE, discuss the techniques which make the uniform treatment of interval and non-interval modeling easier, comment on the wrapping effect, and give reasons for our choice of MOBILE by comparing the results achieved with its help with those obtained by analogous symbolic tools.     

On the Euler and Jacobi differential equations for variational problems with impulse parameters

We study the differential equation −(pu′)′ + qu = f with generalized coefficients for the case in which it is realized in the form of the Euler equation or the Jacobi equation for a variational problem with impulse parameters.     

Regularized numerical integration of multibody dynamics with the generalized method

This paper discusses the consistent regularization property of the generalized α method when applied as an integrator to an initial value high index and singular differential-algebraic equation model of a multibody system. The regularization comes from within the discretization itself and the discretization remains consistent over the range of values the regularization parameter may take. The regularization involves increase of the smallest singular values of the ill-conditioned Jacobian of the discretization and is different from Baumgarte and similar techniques which tend to be inconsistent for poor choice of regularization parameter. This regularization also helps where pre-conditioning the Jacobian by scaling is of limited effect, for example, when the scleronomic constraints contain multiple closed loops or singular configuration or when high index path constraints are present. The feed-forward control in Kane’s equation models is additionally considered in the numerical examples to illustrate the effect of regularization. The discretization presented in this work is adopted to the first order DAE system (unlike the original method which is intended for second order systems) for its A-stability and same order of accuracy for positions and velocities.     

Rotationless formulation for large deformations in flexible multibody dynamics

Especially for specific applications, such as contact problems, computer methods for flexible multibody dynamics that are able to treat large deformation phenomena are important. Classical formalisms for multibody dynamics are based on rigid bodies. Their extension to flexible multibody systems is typically restricted to linear elastic material behavior whereas large deformation phenomena are formulated in the framework of the nonlinear finite element method. In the talk we address computer methods that can handle large deformations in the context of multibody systems. In particular, the link between nonlinear continuum mechanics and multibody systems is facilitated by a specific formulation of rigid body dynamics [1]. It makes possible the incorporation of state-of-the-art computer methods for large deformation problems. In the talk we focus on the treatment of large deformation contact whithin flexible multibody dynamics [2]. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The practical use of the Euler transformation

The generalised Euler transformation is a powerful transformation of infinite series which can be used, in theory, for the acceleration of convergence and for analytic continuation. When the transformation is applied to a series with rounded coefficients, its behaviour can differ substantially from that predicted theoretically. In general, analytic continuation is impossible in this case. It is still possible, however, to use the transformation for acceleration of convergence, but some changes are necessary in the method of choosing the optimum parameter value.     

The tangent stiffness matrix in rigid multibody vehicle dynamics

In the development of the equations of motion of a rigid multibody system, particularly vehicles, it is quite common to linearize the equations after they are derived, or even to ignore the non-linear terms from the outset. When doing so, the tangent stiffness matrix, i.e., the stiffness term that results from preload of the system rather than physical flexibility, is often ignored. The motion analysis of preloaded mechanical systems, e.g., the ride quality analysis of vehicle suspensions, may be significantly altered by this omission. Explicit expressions for the tangent stiffness matrix for a few of the common constraint types, including the revolute joint and the rolling wheel, are derived in this article. These expressions are coded into software and included in an open-source linear equation of motion generator for rigid multibody systems. A sample automotive suspension system is analysed, comparing the results with and without the tangent stiffness matrix effects; additionally, a benchmark solution is developed using a commercial multibody dynamics code. The results provide confirmation of the significance of the tangent stiffness effect on motion analysis and correlate well with non-linear transient solutions.     

A new approach to the incorporation of servo constraints in multibody dynamics

A new index reduction approach is developed to solve the servo constraint problems [2] in the inverse dynamics simulation of underactuated mechanical systems. The servo constraint problem of underactuated systems is governed by differential algebraic equations (DAEs) with high index. The underlying equations of motion contain both holonomic constraints and servo constraints in which desired outputs (specified in time) are described in terms of state variables. The realization of servo constraints with the use of control forces can range from orthogonal to tangential [3]. Since the (differentiation) index of the DAEs is often higher than three for underactuated systems, in which the number of degrees of freedom is greater than the control outputs/inputs, we propose a new index reduction method [1] which makes possible the stable numerical integration of the DAEs. We apply the proposed method to differentially flat systems, such as cranes [1,4,5], and non-flat underactuated systems. (© 2016 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)     

On the Euler Equation in the Plane

In this work we will establish an existence and uniqueness result for weak Euler's equation for an incompressible fluids in the plane. We assume that the initial vorticity is bounded and furthermore it exists at least a point in which initially the integral related to velocity is absolutely convergent.     

On the use of variational methods in steady magneto-gas dynamics

Zusammenfassung Nachdem gezeigt wurde, unter welchen Bedingungen die Ableitung einer Potentialgleichung in der Magnetogasdynamik möglich ist, wird diese diskutiert. Da sie beim Übergang vom unterkritischen in den überkritischen Bereich den Typ ändert, ist das Variationsverfahren die einzige Möglichkeit, eine geschlossene Lösung für beide Bereiche zu erhalten. Es wird das zur Potentialgleichung gehörige Variationsproblem abgeleitet und für die Umströmung eines Zylinders mitk=1,5 gelöst. Die beiden Figuren (Figur 1 im Maßstab 133 und Figur 2 im Maßstab 116,6) stellen die Strömungslinien und die Linien gleicher Mach-Zahl für einen Zylinder mit dem RadiusR=1m bei einem MagnetfeldH=10000 und einer AnströmgeschwindigkeitU=500 m/sec dar.

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The research reported in this paper has been made possible by the support of the United States Government.