Algebraic structures and poisson integrals of relativistic dynamical equations for rotational systems

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Special Mei symmetry and approximate conserved quantity of Appell equations for a weakly nonholonomic system

The weakly nonholonomic system is a nonholonomic system whose constraint equations contain a small parameter. The special Mei symmetry and approximate conserved quantity of Appell equations for a weakly nonholonomic system are studied. Appell equations for a weakly nonholonomic system are established and the definition and the criterion of the special Mei symmetry of the system are given. The structure equation of the special Mei symmetry for a weakly nonholonomic system and approximate conserved quantity deduced from the special Mei symmetry of the system are obtained. Finally, special approximate conserved quantity issues of Appell equations for a two freedom degrees weakly nonholonomic system are investigated using the results of this paper.     

Lie symmetry and approximate Hojman conserved quantity of Appell equations for a weakly nonholonomic system

For a weakly nonholonomic system, the Lie symmetry and approximate Hojman conserved quantity of Appell equations are studied. Based on the Appell equations for a weakly nonholonomic system under special infinitesimal transformations of a group in which the time is invariable, the definition of the Lie symmetry of the weakly nonholonomic system and its first-degree approximate holonomic system are given. With the aid of the structure equation that the gauge function satisfies, the exact and approximate Hojman conserved quantities deduced directly from the Lie symmetry are derived. Finally, an example is given to study the exact and approximate Hojman conserved quantity of the system.     

ЧАПЛЫГИН方程的代数结构

研究非完整系统Чаплыгин方程的代数结构．首先给出Чаплыгин方程的逆变代数形式，其次证明它具有相容代数结构并给出它具有Ｌｉｅ代数结构的条件，最后举例说明结果的应用     

非完整力学

简要地概述了非完整力学的基本概念、变分原理、运动方程、专门问题、积分方法、代数结构与几何方法,论述了非完整力学未来发展的趋势,包括90篇参考文献。      

A note on Poisson stability and controllability

The connection between Poisson stability and controllability is revisited. For the controllability criterion based on weakly positive Poisson stability (WPPS) and Lie algebra rank condition (LARC), it is shown that two natural assumptions about the set of input values are necessary for strictness. By using the relationship between conservative property and WPPS, sufficient conditions for controllability of affine nonlinear systems are further discussed. At last, for systems defined on compact Riemannian manifold, the WPPS is proved to be equivalent to Poisson stability.     

The Jacobiator of Nonholonomic Systems and the Geometry of Reduced Nonholonomic Brackets

In this paper, we consider the Hamiltonian formulation of nonholonomic systems with symmetries and study several aspects of the geometry of their reduced almost Poisson brackets, including the integrability of their characteristic distributions. Our starting point is establishing global formulas for the nonholonomic Jacobiators, before and after reduction, which are used to clarify the relationship between reduced nonholonomic brackets and twisted Poisson structures. For certain types of symmetries (generalizing the Chaplygin case), we obtain genuine Poisson structures on the reduced spaces and analyze situations in which the reduced nonholonomic brackets arise by applying a gauge transformation to these Poisson structures. We illustrate our results with mechanical examples, and in particular show how to recover several well-known facts in the special case of Chaplygin symmetries.     

Form invariance and conserved quantity for weakly nonholonomic system

The form invariance and the conserved quantity for a weakly nonholonomic system （WNS） are studied. The WNS is a nonholonomic system （NS） whose constraint equations contain a small parameter. The differential equations of motion of the system are established. The definition and the criterion of form invariance of the system are given. The conserved quantity deduced from the form invariance is obtained. Finally, an illustrative example is shown.     

非完整约束系统几何动力学研究进展:Lagrange理论及其它

近10年来, 非完整力学的发展主要集中在两个相互关联的方向上, 一个是非完整运动规划, 另一个则是非完整约束系统的几何动力学, 这两个研究方向都充分地利用了现代几何学, 如纤维丛理论、辛流形和Poisson流形结构等等.本文主要综述非完整约束系统几何动力学的外附型和内禀型Lagrange理论, 包括非定常力学系统所需要的射丛几何学的基本概念、射丛按约束的直和分解、约束流形上的水平分布、D'Alembert-Lagrange方程与Chaplygin方程的整体描述、以及Riemann-Cartan流形上的非完整力学, 文中对Chetaev条件和d-δ交换关系的几何意义作了深入讨论.除此之外, 简要评述非完整力学的Hamilton理论与赝Poisson结构、Noether对称性和Lie对称性、动量映射与对称约化、Vakonomic动力学等几个非常重要专题的研究进展.      

Gauge Transformations,Twisted Poisson Brackets and Hamiltonization of Nonholonomic Systems

In this paper we study the problem of Hamiltonization of nonholonomic systems from a geometric point of view. We use gauge transformations by 2-forms (in the sense of Ševera and Weinstein in Progr Theoret Phys Suppl 144:145 154 2001) to construct different almost Poisson structures describing the same nonholonomic system. In the presence of symmetries, we observe that these almost Poisson structures, although gauge related, may have fundamentally different properties after reduction, and that brackets that Hamiltonize the problem may be found within this family. We illustrate this framework with the example of rigid bodies with generalized rolling constraints, including the Chaplygin sphere rolling problem. We also see through these examples how twisted Poisson brackets appear naturally in nonholonomic mechanics.     

Numerical simulation of nonholonomic rigid-body systems

The paper proposes computer algebra system (CAS) algorithms for computer-assisted derivation of the equations of motion for systems of rigid bodies with holonomic and nonholonomic constraints that are linear with respect to the generalized velocities. The main advantages of using the D’Alembert-Lagrange principle for the CSA-based derivation of the equations of motion for nonholonomic systems of rigid bodies are demonstrated. Among them are universality, algorithmizability, computational efficiency, and simplicity of deriving equations for holonomic and nonholonomic systems in terms of generalized coordinates or pseudo-velocities __________ Translated from Prikladnaya Mekhanika, Vol. 42, No. 9, pp. 106–115, September 2006.     

具有可积微分约束的力学系统的Lie对称性

研究具有可积微分约束的力学系统的Ｌｉｅ对称性与守恒量。采用两种方法：一是用不可积微分约束系统的方法;另一是用积分后降阶系统的方法,研究两种方法之间的关系。     

Fractional generalized Hamiltonian mechanics and Poisson conservation law in terms of combined Riesz derivatives

In this paper, we present a new kind of fractional dynamical equations, i.e., the fractional generalized Hamiltonian equations in terms of combined Riesz derivatives, and it is proved that the fractional generalized Hamiltonian system possesses consistent algebraic structure and Lie algebraic structure, and the Poisson conservation law of the fractional generalized Hamiltonian system is investigated. Then the conditions, which a fractional generalized Hamiltonian system can be reduced to a generalized Hamiltonian system, a fractional Hamiltonian system and a Hamiltonian system are given. Further, the conserved quantities of a fractional dynamical system are given to illustrate the method and results of the application. At last, a new fractional Volterra model of the three species groups is presented and its conserved quantities are obtained, by using the method of this paper.     

A Legendre wavelet spectral collocation technique resolving anomalies associated with velocity in some boundary layer flows of Walter-B liquid

A Legendre wavelet spectral collocation method is proposed here to solve three boundary layer flow problems of Walter-B fluid namely the stagnation point flow, Blasius flow and Sakiadis flow. In the proposed method, we first transform the boundary value problems into initial value problems using shooting method. We then split the semi infinite domain into subintervals and the governing initial value problems are transformed to system of algebraic equations in each subinterval. The solutions of these algebraic equations yield an approximate solution of the differential equation in each subinterval. The overshoot in the velocity profile associated with the stagnation point and Blasius flows and undershoot in the Sakiadis flow is controlled. Physically realistic solutions are presented for both weakly and strongly viscoelastic parameters. The residual error validates the correctness, convergence and accuracy of the obtained solutions.     

Lie symmetries,symmetrical perturbation and a new adiabatic invariant for disturbed nonholonomic systems

For a nonlinear nonholonomic constrained mechanical system with the action of small forces of perturbation, Lie symmetries, symmetrical perturbation, and a new type of non-Noether adiabatic invariants are presented in general infinitesimal transformation of Lie groups. Based on the invariance of the equations of motion for the system under general infinitesimal transformation of Lie groups, the Lie symmetrical determining equations, constraints restriction equations, additional restriction equations, and exact invariants of the system are given. Then, under the action of small forces of perturbation, the determining equations, constraints restriction equations, and additional restriction equations of the Lie symmetrical perturbation are obtained, and adiabatic invariants of the Lie symmetrical perturbation, the weakly Lie symmetrical perturbation, and the strongly Lie symmetrical perturbation for the disturbed nonholonomic system are obtained, respectively. Furthermore, a set of non-Noether exact invariants and adiabatic invariants are given in the special infinitesimal transformations. Finally, one example is given to illustrate the application of the method and results.     

Singular Casimir Elements of the Euler Equation and Equilibrium Points

The problem of the nonequivalence of the sets of equilibrium points and energy-Casimir extremal points, which occurs in the noncanonical Hamiltonian formulation of equations describing ideal fluid and plasma dynamics, is addressed in the context of the Euler equation for an incompressible inviscid fluid. The problem is traced to a Casimir deficit, where Casimir elements constitute the center of the Poisson algebra underlying the Hamiltonian formulation, and this leads to a study of singularities of the Poisson operator defining the Poisson bracket. The kernel of the Poisson operator, for this typical example of an infinite-dimensional Hamiltonian system for media in terms of Eulerian variables, is analyzed. For two-dimensional flows, a rigorously solvable system is formulated. The nonlinearity of the Euler equation makes the Poisson operator inhomogeneous on phase space (the function space of the state variable), and it is seen that this creates a singularity where the nullity of the Poisson operator (the “dimension” of the center) changes. The problem is an infinite-dimension generalization of the theory of singular differential equations. Singular Casimir elements stemming from this singularity are unearthed using a generalization of the functional derivative that occurs in the Poisson bracket.     

Conformal invariance for the nonholonomic constrained mechanical system of non-Chetaev’s type

The conformal invariance and conserved quantity for the nonholonomic system of non-Chetaev’s type are studied. Firstly, by introducing a one-parameter infinitesimal transformation group and its infinitesimal generator vector, the definition of conformal invariance and determining equation for the holonomic system which corresponds to a nonholonomic system of non-Chetaev’s type are provided, and the relationship between the system’s conformal invariance and Lie symmetry are discussed. Secondly, the conformal invariance of weak and strong Lie symmetry for the nonholonomic system of non-Chetaev’s type is given using restriction equations and additional restriction equations. Thirdly, the system’s corresponding conserved quantity is derived with the aid of a structure equation that the gauge function satisfies. Lastly, an example is given to illustrate the application of the method and its result.     

Equilibrium conditions of a tensegrity structure

This paper characterizes the necessary and sufficient conditions for tensegrity equilibria. Static models of tensegrity structures are reduced to linear algebra problems, after first characterizing the problem in a vector space where direction cosines are not needed. This is possible by describing the components of all member vectors. While our approach enlarges (by a factor of 3) the vector space required to describe the problem, the advantage of enlarging the vector space makes the mathematical structure of the problem amenable to linear algebra treatment. Using the linear algebraic techniques, many variables are eliminated from the final existence equations.     

Energy integrals for mechanical systems with nonlinear nonholonomic constraints

The work analyzes energy relations for nonholonomic systems, whose motion is restricted by nonlinear nonholonomic constraints. For the mechanical systems with linear constraints, the analysis of energy relations was carried out in [1], [2], [3], [4], [5], [6] …. On the basis of corresponding Lagrange’s equations, a general law of the change in energy dε/dt is formulated for mentioned systems by the help of which it is shown that there are two types of the laws of conservation of energy, depending on the structure of elementary work of the forces of constraint reactions. Also, the condition for existing the second type of the law of conservation of energy is formulated in the form of the system of partial differential equations. The obtained results are illustrated by a model of nonholonomic mechanical system.     

Чаплыгин方程的研究进展

本文给出非完整力学系统方程的研究进展,包括方程形式的推广,方程的代数表示与几何表示,方程的积分理论,动力学逆问题,运动稳定性等方面的近年研究成果,并指出未来研究的几个方向．