Vol. 20, no. 1

Vol. 20, no. 1, 2024

Gasanov M. V.,  Gulkanov A. G.,  Modestov K. A.
In this paper, we consider a mathematical model of the dynamics of the behavior of a spherically symmetric Rayleigh – Plesset bubble in the van der Waals gas model. The analysis of the model takes into account various isoprocesses without the presence of condensation and a model that takes into account condensation in an isothermal process. In each case, various characteristics are searched for, such as oscillation frequency (linear/small oscillations), damping factor, relaxation time, decrement, and logarithmic decrement. Solutions are found in quadratures for various parameters of the equation. The theoretical results obtained are compared with the results of the numerical solution of the Cauchy problem for various isoprocesses.
Keywords: nonlinear differential equations, exact solution, small fluctuations, van der Waals equation, Rayleigh – Plesset equation
Citation: Gasanov M. V.,  Gulkanov A. G.,  Modestov K. A., Analytical Solution of the Rayleigh – Plesset Equation Filled with Van Der Waals Gas for Various Isoprocesses, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 3-13
Fakhretdinov M. I.,  Samsonov K. Y.,  Dmitriev S. V.,  Ekomasov E. G.
The $\varphi^4$ theory is widely used in many areas of physics, from cosmology and elementary particle physics to biophysics and condensed matter theory. However, in the $\varphi^4$ model, there are no spatially localized solutions in the form of breathers. Topological defects, or kinks, in this theory describe stable, solitary wave excitations. In practice, these excitations, as they propagate, necessarily interact with impurities or imperfections in the on-site potential. In this work, with the help of numerical calculations using the method of lines, the interaction of the kink in the $\varphi^4$ model with extended impurities is considered. The case of an attractive rectangular impurity is analyzed. It is found that after the kink-impurity interaction, an internal mode with frequency $\sqrt{\frac32}$ is excited on the kink and it becomes a wobbling kink. It is shown that with the help of kink-impurity interaction, an extended rectangular attracting impurity, as well as a point impurity, can be used as a generator for excitation of long-lived high-amplitude localized breather waves. The structure of the excited wobbling breather (or wobbler), which consists of a compact core and an extended tail, is described. It is shown that the wobbler tail has the form of a spatially unbounded quasi-sinusoidal function with a classical frequency $\sqrt{2}$. To determine the lifetime of the wobbler, the dependence of the amplitude of the impurity mode on time is found. For the case of small impurities, it turned out that it practically does not change for a long time. For the case of large impurities, the wobbler amplitude begins to noticeably decrease with time. The frequency of wobbler oscillations does not depend on the initial velocity of the kink. The dependence of the impurity mode oscillation amplitude on the initial kink velocity has minima and maxima. By changing the impurity parameters, one can also control the dynamic parameters of the wobbler. A linear approximation is considered that allows an analytical solution of the problem for localized breather waves, and the limits of its applicability for this model are found.
Keywords: $\varphi^4$ model, impurity, soliton theory, wobbling kink, wobbler
Citation: Fakhretdinov M. I.,  Samsonov K. Y.,  Dmitriev S. V.,  Ekomasov E. G., Attractive Impurity as a Generator of Wobbling Kinks and Breathers in the $\varphi^4$ Model, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 15-26
Ardentov A. A.
We formulate a time-optimal problem for a differential drive robot with bounded positive velocities of the driving wheels. This problem is equivalent to a generalization of the classical Markov – Dubins problem with an extended domain of control. We classify all extremal controls via the Pontryagin maximum principle. Some optimality conditions are obtained; therefore, the optimal synthesis is reduced to the enumeration of a finite number of possible solutions.
Keywords: differential drive robot, Markov – Dubins problem, extremal trajectories, Pontryagin maximum principle
Citation: Ardentov A. A., Extremals in the Markov – Dubins Problem with Control on a Triangle, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 27-42
Adamov B. I.
This article is devoted to a study of the geometry and kinematics of the Mecanum wheels, also known as Ilon wheels or the Swedish wheels. The Mecanum wheels are one of the types of omnidirectional wheels. This property is provided by peripheral rollers whose axes are deviated from the wheel one by 45 degrees. A unified approach to studying the geometry and kinematics of the Mecanum wheels on a plane and on the internal or external surface of a sphere is proposed. Kinematic relations for velocities at the contact point of the wheel and the supporting surface, and angular velocities of the roller relative to the supporting surface are derived. They are necessary to describe the dynamics of the Mecanum systems taking into account forces and moments of contact friction in the presence of slipping. From the continuous contact condition, relations determining the geometry of the wheel rollers on a plane and on the internal or external surface of a sphere are obtained. The geometric relations for the Mecanum wheel rollers could help to adjust the existing shape of the Mecanum wheel rollers of spherical robots and ballbots to improve the conditions of contact between the rollers and the spherical surface. An analytical study of the roller geometry was carried out, and equations of their generatrices were derived. Under the no-slipping condition, expressions for rotational velocities of the wheel and the contacting roller are obtained. They are necessary for analyzing the motion of systems within the framework of nonholonomic models, solving problems of controlling Mecanum systems and improving its accuracy. Using the example of a spherical robot with an internal three-wheeled Mecanum platform, the influence of the rollers on the robot movement was studied at the kinematic level. It has been established that the accuracy of the robot movement is influenced not only by the geometric parameters of the wheels and the number of rollers, but also by the relationship between the components of the platform center velocity and its angular velocity. Results of the numerical simulation of the motion of the spherical robot show a decrease in control accuracy in the absence of feedback on the robot’s position due to effects associated with the finite number of rollers, their geometry and switching. These effects lead not only to high-frequency vibrations, but also to a “drift” of the robot trajectory relative to the reference trajectory. Further research on this topic involves the use of the motion separation methods and the statistical methods for kinematical and dynamical analysis of Mecanum systems.
Keywords: Mecanum wheel, omnidirectional wheel, omniwheel, spherical robot, ballbot, forward kinematics, inverse kinematics, kinematic model
Citation: Adamov B. I., Geometry and Kinematics of the Mecanum Wheel on a Plane and a Sphere, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 43-78
Vetchanin E. V.,  Valieva A. R.
The problem of describing the motion of a rigid body in a fluid is addressed by considering a symmetric Joukowsky foil. Within the framework of the model of an ideal fluid, the force and torque acting on an unsteady moving foil are calculated. The analytical results are compared with those obtained based on the numerical solution of the Navier – Stokes equations. It is shown that analytical expressions for the force and torque can be consistent with the results of numerical simulations using scaling and a delayed arguments.
Keywords: motion of a body in a fluid, Joukowsky foil, complex potential, Kutta – Chaplygin condition, the Navier – Stokes equations
Citation: Vetchanin E. V.,  Valieva A. R., Analysis of the Force and Torque Arising During the Oscillatory Motion of a Joukowsky Foil in a Fluid, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 79-93
Kilin A. A.,  Artemova E. M.
This paper addresses the problem of the motion of two point vortices of arbitrary strengths in an ideal incompressible fluid on a finite flat cylinder. A procedure of reduction to the level set of an additional first integral is presented. It is shown that, depending on the parameter values, three types of bifurcation diagrams are possible in the system. A complete bifurcation analysis of the system is carried out for each of them. Conditions for the orbital stability of generalizations of von Kármán streets for the problem under study are obtained.
Keywords: point vortices, ideal fluid, flat cylinder, bifurcation diagram, phase portrait, von Kármán vortex street, stability, boundary, flow in a strip
Citation: Kilin A. A.,  Artemova E. M., Bifurcation Analysis of the Problem of Two Vortices on a Finite Flat Cylinder, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 95-111
Gaydukov R. K.
The problem of flow of a non-Newtonian viscous fluid with power-law rheological properties along a semi-infinite plate with a small localized irregularity on the surface is considered for large Reynolds numbers. The asymptotic solution with double-deck structure of the boundary layer is constructed. The numerical simulation of the flow in the region near the surface was performed for different fluid indices. The results of investigations of the flow properties depending on the fluid index are presented. Namely, the boundary layer separation is investigated for different fluid indices, and the dynamics of vortex formation in this region is shown.
Keywords: double-deck structure, boundary layer separation, power-law fluid, localized perturbations, asymptotics, numerical simulation
Citation: Gaydukov R. K., Prandtl System of Equations with Self-Induced Pressure for the Case of Non-Newtonian Fluid: Dynamics of Boundary Layer Separation, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 113-125
Bardin B. S.
The problem of the orbital stability of periodic motions of a heavy rigid body with a fixed point is investigated. The periodic motions are described by a particular solution obtained by D. N. Bobylev and V. A. Steklov and lie on the zero level set of the area integral. The problem of nonlinear orbital stability is studied. It is shown that the domain of possible parameter values is separated into two regions: a region of orbital stability and a region of orbital instability. At the boundary of these regions, the orbital instability of the periodic motions takes place.
Keywords: Bobylev – Steklov case, periodic motions, orbital stability, symplectic map, normal form, resonances
Citation: Bardin B. S., On the Orbital Stability of Periodic Motions of a Heavy Rigid Body in the Bobylev – Steklov Case, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 127-140
Ivanov A. P.
We consider the planar problem of the dynamics of a body moving along a horizontal with two legs in contact with a rough horizontal plane. Possible types of movements of the body are discussed depending on the acceleration of the support: relative equilibrium, sliding on two legs, lifting off one leg without sliding on the other, lifting off one leg while sliding on the other. Based on the results obtained, it is shown that, when sliding on two legs, the friction force is generally anisotropic. This makes it possible to transport the body due to simple vibrations of the plane, for example, harmonic vibrations.
Keywords: Coulomb friction, a body on a moving support, unilateral contact, vibrotransportation
Citation: Ivanov A. P., On the Dynamics of a Biped upon a Moving Rough Plane, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 141-149
Gonchenko S. V.,  Gordeeva O. V.
We consider two-dimensional diffeomorphisms with homoclinic orbits to nonhyperbolic fixed points. We assume that the point has arbitrary finite order degeneracy and is either of saddlenode or weak saddle type. We consider two cases when the homoclinic orbit is transversal and when a quadratic homoclinic tangency takes place. In the first case we give a complete description of orbits entirely lying in a small neighborhood of the homoclinic orbit. In the second case we study main bifurcations in one-parameter families that split generally the homoclinic tangency but retain the degeneracy type of the fixed point.
Keywords: homoclinic orbit, saddle-node, nonhyperbolic saddle, bifurcation, hyperbolic set, topological Bernoulli scheme
Citation: Gonchenko S. V.,  Gordeeva O. V., On Two-Dimensional Diffeomorphisms with Homoclinic Orbits to Nonhyperbolic Fixed Points, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 151-165
Osenkov E. M.,  Pochinka O. V.
In this paper, we consider a class of Morse – Smale diffeomorphisms defined on a closed 3-manifold (not necessarily orientable) under the assumption that all their saddle points have the same dimension of the unstable manifolds. The simplest example of such diffeomorphisms is the well-known “source-sink” or “north pole – south pole” diffeomorphism, whose non-wandering set consists of exactly one source and one sink. As Reeb showed back in 1946, such systems can only be realized on the sphere. We generalize his result, namely, we show that diffeomorphisms from the considered class also can be defined only on the 3-sphere.
Keywords: Morse – Smale diffeomorphisms, ambient manifold topology, invariant manifolds, heteroclinic orbits, hyperbolic dynamics
Citation: Osenkov E. M.,  Pochinka O. V., Morse – Smale 3-Diffeomorphisms with Saddles of the Same Unstable Manifold Dimension, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 167-178
Mikishanina E. A.
This study investigates the rolling along the horizontal plane of two coupled rigid bodies: a spherical shell and a dynamically asymmetric rigid body which rotates around the geometric center of the shell. The inner body is in contact with the shell by means of omniwheels. A complete system of equations of motion for an arbitrary number of omniwheels is constructed. The possibility of controlling the motion of this mechanical system along a given trajectory by controlling the angular velocities of omniwheels is investigated. The cases of two omniwheels and three omniwheels are studied in detail. It is shown that two omniwheels are not enough to control along any given curve. It is necessary to have three or more omniwheels. The quaternion approach is used to study the dynamics of the system.
Keywords: dynamics, control, spherical robot, omniwheel, nonholonomic hinge, quaternion, trajectory
Citation: Mikishanina E. A., Control of a Spherical Robot with a Nonholonomic Omniwheel Hinge Inside, Rus. J. Nonlin. Dyn., 2024, Vol. 20, no. 1, pp. 179-193

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