On the influence of gyroscopic forces on the stability of steady-state motion : PMM vol. 39, n 6, 1975, pp. 963–973

The question of the influence of gyroscopic forces on the stability of steady-state motion of a holonomic mechanical system when the forces depend upon the velocities of only the position coordinates was answered by the Kelvin-Chetaev theorems [1] on the influence of gyroscopic and dissipative forces on the stability of equilibrium. However, if the gyroscopic forces depend as well on the velocities of the ignorable coordinates, then their influence on the stability of steady-state motions can, as the two problems in [2] show, prove to be entirely different from the influence of gyroscopic forces depending only on the velocities of the position coordinates. In this paper we investigate the influence of gyroscopic forces depending linearly on the velocities of the generalized coordinates, including the ignorable ones, on the stability of the steady-state motion of a holonomic conservative system. We prove that when the gyroscopic forces applied with respect to the ignorable coordinates are given as total time derivatives of certain functions of the position coordinates, the gyroscopic forces can both stabilize as well as destabilize the steady-state motion. Under certain conditions, this influence is also preserved for the action of dissipative forces depending on the velocities of only the position coordinates. In the case of action of dissipative forces depending also on the velocities of the ignorable coordinates, we have indicated the stability and instability conditions of the steady-state motion. Examples are considered. In conclusion, we discuss the conditions under which the application of gyroscopic forces to the system is equivalent to adding terms depending linearly on the generalized velocities to the Lagrange function.     

The stability and stabilization of the motion of non-conservative mechanical systems

Two stability problems are solved. In the first, the stability of mechanical systems, on which dissipative, gyroscopic, potential and positional non-conservative forces (systems of general form) act, is investigated. The stability is considered in the case when the potential energy has a maximum at equilibrium. The condition for asymptotic stability is obtained by constructing Lyapunov's function. In the second problem, the possibility of stabilizing a gyroscopic system with two degrees of freedom up to asymptotic stability using non-linear dissipative and positional non-conservative forces is investigated. Stability of the gyroscopic system is achieved by gyroscopic stabilization. The stability conditions are obtained in terms of the system parameters. Cases when the gyroscopic stabilization is disrupted by these non-linear forces are indicated.     

Polygonizations of point sets in the plane

We examine the different ways a set ofn points in the plane can be connected to form a simple polygon. Such a connection is called apolygonization of the points. For some point sets the number of polygonizations is exponential in the number of points. For this reason we restrict our attention to star-shaped polygons whose kernels have nonempty interiors; these are callednondegenerate star-shaped polygons.We develop an algorithm and data structure for determining the nondegenerate star-shaped polygonizations of a set ofn points in the plane. We do this by first constructing an arrangement of line segments from the point set. The regions in the arrangement correspond to the kernels of the nondegenerate star-shaped polygons whose vertices are the originaln points. To obtain the data structure representing this arrangement, we show how to modify data structures for arrangements of lines in the plane. This data structure can be computed inO(n ⁴) time and space. By visiting the regions in this data structure in a carefully chosen order, we can compute the polygon associated with each region inO(n) time, yielding a total computation time ofO(n ⁵) to compute a complete list ofO(n ⁴) nondegenerate star-shaped polygonizations of the set ofn points.     

Gyroscopic control and stabilization

Summary In this paper, we consider the geometry of gyroscopic systems with symmetry, starting from an intrinsic Lagrangian viewpoint. We note that natural mechanical systems with exogenous forces can be transformed into gyroscopic systems, when the forces are determined by a suitable class of feedback laws. To assess the stability of relative equilibria in the resultant feedback systems, we extend the energy-momentum block-diagonalization theorem of Simo, Lewis, Posbergh, and Marsden to gyroscopic systems with symmetry. We illustrate the main ideas by a key example of two coupled rigid bodies with internal rotors. The energy-momentum method yields computationally tractable stability criteria in this and other examples.     

Mathematical programs with vanishing constraints: critical point theory

We study mathematical programs with vanishing constraints (MPVCs) from a topological point of view. We introduce the new concept of a T-stationary point for MPVC. Under the Linear Independence Constraint Qualification we derive an equivariant Morse Lemma at nondegenerate T-stationary points. Then, two basic theorems from Morse Theory (deformation theorem and cell-attachment theorem) are proved. Outside the T-stationary point set, continuous deformation of lower level sets can be performed. As a consequence, the topological data (such as the number of connected components) then remain invariant. However, when passing a T-stationary level, the topology of the lower level set changes via the attachment of a q-dimensional cell. The dimension q equals the stationary T-index of the (nondegenerate) T-stationary point. The stationary T-index depends on both the restricted Hessian of the Lagrangian and the number of bi-active vanishing constraints. Further, we prove that all T-stationary points are generically nondegenerate. The latter property is shown to be stable under C ²-perturbations of the defining functions. Finally, some relations with other stationarity concepts, such as strong, weak, and M-stationarity, are discussed.     

Mechanical systems,equivalent in Lyapunov's sense to systems not containing non-conservative positional forces

Developing results obtained previously (Refs. Koshlyakov VN. Structural transformations of the equations of perturbed motion of a certain class of dynamical systems. Ukr Mat Zh 1997; 49 (4): 535–539; Koshlyakov VN. Structural transformations of dynamical systems with gyroscopic forces. Prikl Mat Mekh 1997; 61 (5): 774–780; Koshlyakov VN, Makarov VL. The theory of gyroscopic systems with non-conservative forces. Prikl Mat Mekh 2001; 65 (4): 698–704; Koshlyakov VN, Makarov VL. The stability of non-conservative systems with degenerate matrices of dissipative forces. Prikl Mat Mekh 2004; 68 (6): 906–913), the general problem of eliminating non-conservative positional structures from the second-order differential equation with constant matrix coefficients, obtained when modelling many mechanical systems, is considered. It is assumed that the matrices of the dissipative and non-conservative positional structures may, in particular, be degenerate. Under fairly general assumptions, theorems containing the necessary and sufficient conditions for a Lyapunov transformation to exist are proved. This converts the initial matrix equation to an equivalent autonomous form (in Lyapunov's sense) with a symmetrical matrix of the positional forces. An illustrative example is considered.     

Bundles and geometric structures associated with gyroscopic systems

The overview is devoted to topological and geometric structures associated with gyroscopic systems whose action functional S is multivalued. The expediency of constructing and studying them is, in particular, stipulated by the fact that the standard methods of the calculus of variations in the problem with fixed endpoints are not effective for such functionals. One of the methods for overcoming the difficulties arising here is the application of bundles, foliations, connections, and also Riemannian and Lorentz manifolds. In this way, it turns out to be possible to perform the reduction of the two-point problem for S to problems with fixed initial point and movable endpoint for the length functional {ie828-01} of a pseudo-Riemannian manifold foliated over the configurational space of the gyroscopic system considered. As the endpoint manifolds, the leaves of the Riemannian foliation are used, and the correspondence between the extremals of the functionals S and {ie828-02} is stated by using the Ehresmann connection of this bundle. The paper discusses the results on the motions of natural mechanical systems with gyroscopic forces and gyroscopic systems of relativistic type obtained by using the above reduction and also the topological and geometric constructions used in it. __________ Translated from Sovremennaya Matematika. Fundamental’nye Napravleniya (Contemporary Mathematics. Fundamental Directions), Vol. 22, Geometry, 2007.     

Zur Darstellung Miquelscher Möbiusräume

In this paper we prove the following theorem (shown by J.TITS [7] in the case of finite dimension): LetO be a set of at least 2 points of a projective space of dimension 2 and suppose that the intersections ofO and the planes of are either empty or one point sets or Pascalian ovals. ThenO is an ellipsoid (nondegenerate quadric of index 1). As a corollary we obtain that every Miquelian Möbius-space is the geometry of the plane sections of an ellipsoid.     

Nondegenerate necessary conditions for nonlinear optimal control problems with higher-index state constraints

For some optimal control problems with pathwise state constraints the standard versions of the necessary conditions of optimality are unable to provide useful information to select minimizers. There exist some literature on stronger forms of the maximum principle, the so-called nondegenerate necessary conditions, that can be informative for those problems. These conditions can be applied when certain constraint qualifications are satisfied. However, when the state constraints have higher index (i.e. their first derivative with respect to time does not depend on the control) these nondegenerate necessary conditions cannot be used. This happens because constraint qualifications assumptions are never satisfied for higher index state constraints. We note that control problems with higher index state constraints arise frequently in practice. An example is a common mechanical systems for which there is a constraint on the position (an obstacle in the path, for example) and the control acts as a second derivative of the position (a force or acceleration) which is a typical case. Here, we provide a nondegenerate form of the necessary conditions that can be applied to nonlinear problems with higher index state constraints. When addressing a problem with a state constraint of index k, the result described is applicable under a constraint qualification that involves the k -th derivative of the state constraint, corresponding to the first time when derivative depends explicitly on the control. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Stabilization and destabilization in non-conservative gyroscopic systems

Stability of a linear autonomous non-conservative system in presence of potential, gyroscopic, dissipative, and nonconservative positional forces is studied. The cases when the non-conservative system is close to a gyroscopic system or to a circulatory one, are examined. It is known that the marginal stability of gyroscopic and circulatory systems can be destroyed or improved up to asymptotic stability due to action of small non-conservative positional and velocity-dependent forces. The present contribution shows that in both cases the boundary of the asymptotic stability domain of the perturbed system possesses singularities such as “Dihedral angle” and “Whitney umbrella” that govern stabilization and destabilization. Approximations of the stability boundary near the singularities and estimates of the critical gyroscopic and circulatory parameters are found in an analytic form. In case of two degrees of freedom these estimates are obtained in terms of the invariants of matrices of the system. As an example, the asymptotic stability domain of the modified Maxwell-Bloch equations is investigated with an application to the stability problems of gyroscopic systems with stationary and rotating damping, such as the Crandall gyropendulum, tippe top and Jellet's egg. An instability mechanism in a system with two degrees of freedom, originating after discretization of models of a rotating disc in frictional contact and possessing the spectral mesh in the plane ‘frequency’ versus ‘angular velocity’, is described in detail and its role in the disc brake squeal problem is discussed. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

The domestic levels ofK c are iterable

We show that the models produced by theK ^c construction before (if ever) it reaches a non-domestic premouse are all iterable. As a corollary we get thatPFA plus the existence of a measurable cardinal implies the existence of a non-domestic premouse. Partially supported by the Italian MURST. Research partially supported by NSF grant DMS 98-03292. Research partially supported by NSF grant DMS 98-03611.     

Nondegenerate Semiramified Valued and Graded Division Algebras

The main goal of this article is to give examples of division p-algebras that are not tensor product of cyclic algebras (Corollary 2.19) and to prove that nondegenerate tame semiramified division algebras of prime power degree over a Henselian valued field are indecomposable (Theorem 3.5). For this, we give new results concerning nicely semiramified division algebras over Henselian valued fields, and we develop a new study for nondegenerate valued and graded division algebras.     

Stationary critical points of the heat flow in the plane

In previous papers [MS 1, 2], we considered stationary critical points of solutions of the initial-boundary value problems for the heat equation on bounded domains in ℝ^N,N ≧ 2. In [MS 1], we showed that a solutionu has a stationary critical pointO if and only ifu satisfies a certain balance law with respect toO for any time. Furthermore, we proved necessary and sufficient conditions relating the symmetry of the domain to the initial datau ₀; in this way, we gave a characterization of the ball in ℝ^N([MS 1]) and of centrosymmetric domains ([MS 2]). In the present paper, we consider a rotationA _dby an angle 2π/d,d ≧ 2 for planar domains and give some necessary and some sufficient conditions onu ₀ which relate to domains invariant underA _d. We also establish some conjectures. This research was partially supported by a Grant-in-Aid for Scientific Research (C) (# 10640175) and (B) (# 12440042) of the Japan Society for the Promotion of Science. The first author was supported also by the Italian MURST.     

Uniqueness of positive multi-lump bound states of nonlinear Schrödinger equations

In this paper we are concerned with multi-lump bound states of the nonlinear Schr?dinger equation for sufficiently small , where for and for . V is bounded on . For any finite collection of nondegenerate critical points of V, we show the uniqueness of solutions of the form for , where u is positive on and is a small perturbation of a sum of one-lump solutions concentrated near , respectively for sufficiently small . Received: 30 October 2001; in final form: 10 June 2002 /Published online: 2 December 2002 RID="*" ID="*" Research supported by Alexander von Humboldt Foundation in Germany and NSFC in China     

Dissipation-induced subcritical flutter in the acoustics of friction

We consider a gyroscopic system under the action of small dissipative and non–conservative positional forces, which has its origin in the models of rotating elastic bodies of revolution in frictional contact such as the singing wine glass or the squealing disc/drum brakes. The spectrum of the unperturbed gyroscopic system forms a spectral mesh in the plane ‘frequency versus gyroscopic parameter’ with double semi–simple purely imaginary eigenvalues at the nodes. In the subcritical range of the gyroscopic parameter the eigenvalues involved into the crossings have the same Krein signature and thus their splitting due to changes in the stiffness matrix, which break the rotational symmetry of the body, cannot produce complex eigenvalues and, therefore, flutter. We establish that perturbation of the gyroscopic system by the dissipative forces with the indefinite matrix can lead to the subcritical flutter instability even if the rotational symmetry is destroyed. With the use of the perturbation theory of multiple eigenvalues we explicitly find the linear approximation to the domain of the subcritical flutter, which turns out to have a conical shape. The orientation of the cone in the three dimensional space of the parameters, corresponding to gyroscopic, damping, and potential forces, is determined by the sign of an explicit expression involving the entries of both the damping and potential matrices. With the use of a time–dependent coordinate transformation we demonstrate that the conical zones of flutter for the original autonomous system coincide with the zones of the subcritical parametric resonance of the rotationally symmetric flexible body with the load moving in the circumferential direction. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)     

Inner solvers for interior point methods for large scale nonlinear programming

This paper deals with the solution of nonlinear programming problems arising from elliptic control problems by an interior point scheme. At each step of the scheme, we have to solve a large scale symmetric and indefinite system; inner iterative solvers, with an adaptive stopping rule, can be used in order to avoid unnecessary inner iterations, especially when the current outer iterate is far from the solution. In this work, we analyse the method of multipliers and the preconditioned conjugate gradient method as inner solvers for interior point schemes. We discuss the convergence of the whole approach, the implementation details and report the results of numerical experimentation on a set of large scale test problems arising from the discretization of elliptic control problems. A comparison with other interior point codes is also reported. This research was supported by the Italian Ministry for Education, University and Research (MIUR) projects: FIRB Project: “Parallel Nonlinear Numerical Optimization PN ² O” (grant n. RBAU01JYPN, ) and COFIN/PRIN04 Project “Numerical Methods and Mathematical Software for Applications” (grant n. 2004012559, ).     

Gyroscopic stabilization of nonconservative systems

The problem is considered of the stabilization of a mechanical system having only nonconservative positional forces by adding gyroscopic forces. The gyroscopic stabilization is proved to be always realizable in the case of a degenerate matrix of nonconservative forces and even number of coordinates. If the matrix of nonconservative forces is nonsingular then a possibility of the gyroscopic stabilization is established for all systems whose number of coordinates is divisible by four. For a nonautonomous systemwith nonconservative positional forces and dissipative forces with complete dissipation, some sufficient conditions are obtained for stabilization up to the exponential stability by addition of gyroscopic forces.     

The set union problem with dynamic weighted backtracking

We consider an extension of the set union problem, in which dynamic weighted backtracking over sequences of unions is permitted. We present a new data structure which can support each operation inO(logn) time in the worst case. We prove that this bound is tight for pointer based algorithms. Furthermore, we design a different data structure to achieve better amortized bounds. The space complexity of both our data structures isO(n). Motivations for studying this problem arise in logic programming memory management.Work partially supported by NSF Grant CCR-88-14977, by the ESPRIT II Basic Research Actions Program of the EC under contract No. 3075 (Project ALCOM), and by the Italian MURST Project Algoritmi e Strutture di Calcolo.Partially supported by an IBM Graduate Fellowship.     

Robustness and nondegenerateness for linear complementarity problems

In this paper the main focus is on a stability concept for solutions of a linear complementarity problem. A solution of such a problem is robust if it is stable against slight perturbations of the data of the problem. Relations are investigated between the robustness, the nondegenerateness and the isolatedness of solutions. It turns out that an isolated nondegenerate solution is robust and also that a robust nondegenerate solution is isolated. Since the class of linear complementarity problems with only robust solutions or only nondegenerate solutions is not an open set, attention is paid to Garcia's classG _n of linear complementarity problems. The nondegenerate problems inG _n form an open set.