Ivan Mamaev
1, Universitetskaya str., Izhevsk 426034, Russia
Institute of Computer Science, Russia
Doctor of Physics and Mathematics, Associate Professor
Professor of the Russian Academy of Sciences
Head of the Scientific Educational Laboratory of Mobile Systems, Kalashnikov Izhevsk State Technical University (ISTU)
Professor at Department of Theoretical Physics at Udmurt State University
Director of the Institute of Computer Science
Senior Researcher of the Department of Mathematical Methods of Nonlinear Dynamics at Institute of Mathematics and Mechanics UB RAS
Born: August 25, 1971
Education
In 1992 graduated from Udmurt State University (UdSU).
2000: Thesis of Ph.D. (candidate of science). Thesis title: «Numerical and analytical methods in dynamical systems analysis on Lie algebras», Lomonosov Moscow State University
2005: Doctor in physics and mathematics. Thesis title: «Numerical and analytical methods in nonholonomic mechanics», St Petersburg University.
Work experience
2001–2009: Head of the Laboratory of Dynamical Chaos and Nonlinearity, Udmurt State University (UdSU).
2002–2009: Deputy director of Institute of Computer Science
since 2004: Senior Researcher at the Department of Mathematical Methods of Nonlinear Dynamics, Institute of Mathematics and Mechanics, Ural Branch of the Russian Academy of Sciences.
2010–2013: Head of the Sector of Nonholonomic Mechanics of the Laboratory of Nonlinear Analysis and Design of New Types of Vehicles, established under the grant No 11.G34.31.0039 of the Government of the Russian Federation for State Support for Scientific Research Conducted under the Supervision of Leading Scientists at Russian Institutions of Higher Professional Education.
since 2013: Head of the Scientific Educational Laboratory of Mobile Systems, Kalashnikov Izhevsk State Technical University, Izhevsk. Professor at the Division of Mechatronic Systems
2015–2019: Leading Researcher at the Department of Mechanics of the Steklov Mathematical Institute, Russian Academy of Sciences.
2017–2019: Leading Researcher of the Laboratory of Mechatronics and Robotics of the Moscow Institute of Physics and Technology (National Research University).
since 2017: Professor of the Department of Theoretical Physics at UdSU.
Scientific prizes and awards
In 2012, I.S. Mamaev was awarded the Sofya Kovalevskaya Prize for a series of monographs devoted to integrable systems of Hamiltonian mechanics.
In 2018, the academic rank of Professor of the Russian Academy of Sciences was conferred on him.
Membership in the editorial boards and scientific organizations
Deputy Editor-in-Chief of the international scientific journal Regular and Chaotic Dynamics, Editor-in-Chief of the journal Russian Journal of Nonlinear Dynamics. Deputy Editor-in-Chief of the journal Bulletin of Udmurt University. Mathematics. Mechanics. Computer Science, member of the editorial board of the journals Computer Research and Modeling, Bulletin of Kalashnikov ISTU.
Profiles:
Publications:
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Klekovkin A. V., Karavaev Y. L., Mamaev I. S.
The Control of an Aquatic Robot by a Periodic Rotation of the Internal Flywheel
2023, Vol. 19, no. 2, pp. 265-279
Abstract
This paper presents the design of an aquatic robot actuated by one internal rotor. The robot
body has a cylindrical form with a base in the form of a symmetric airfoil with a sharp edge. For
this object, equations of motion are presented in the form of Kirchhoff equations for rigid body
motion in an ideal fluid, which are supplemented with viscous resistance terms. A prototype
of the aquatic robot with an internal rotor is developed. Using this prototype, experimental
investigations of motion in a fluid are carried out.
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Mamaev I. S., Kilin A. A., Karavaev Y. L., Shestakov V. A.
Criteria of Motion Without Slipping for an Omnidirectional Mobile Robot
2021, Vol. 17, no. 4, pp. 527-546
Abstract
In this paper we present a study of the dynamics of a mobile robot with omnidirectional
wheels taking into account the reaction forces acting from the plane. The dynamical equations
are obtained in the form of Newton – Euler equations. In the course of the study, we formulate
structural restrictions on the position and orientation of the omnidirectional wheels and their
rollers taking into account the possibility of implementing the omnidirectional motion. We
obtain the dependence of reaction forces acting on the wheel from the supporting surface on the
parameters defining the trajectory of motion: linear and angular velocities and accelerations,
and the curvature of the trajectory of motion. A striking feature of the system considered is that
the results obtained can be formulated in terms of elementary geometry.
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Mamaev I. S., Tenenev V. A., Vetchanin E. V.
Dynamics of a Body with a Sharp Edge in a Viscous Fluid
2018, Vol. 14, no. 4, pp. 473-494
Abstract
This paper addresses the problem of plane-parallel motion of the Zhukovskii foil in a viscous
fluid. Various motion regimes of the foil are simulated on the basis of a joint numerical solution
of the equations of body motion and the Navier – Stokes equations. According to the results
of simulation of longitudinal, transverse and rotational motions, the average drag coefficients
and added masses are calculated. The values of added masses agree with the results published
previously and obtained within the framework of the model of an ideal fluid. It is shown that
between the value of circulation determined from numerical experiments, and that determined
according to the model of and ideal fluid, there is a correlation with the coefficient $\mathcal{R} = 0.722$.
Approximations for the lift force and the moment of the lift force are constructed depending
on the translational and angular velocity of motion of the foil. The equations of motion of
the Zhukovskii foil in a viscous fluid are written taking into account the found approximations and the drag coefficients. The calculation results based on the proposed mathematical model
are in qualitative agreement with the results of joint numerical solution of the equations of body
motion and the Navier – Stokes equations.
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Borisov A. V., Mamaev I. S.
An inhomogeneous Chaplygin sleigh
2017, Vol. 13, No. 4, pp. 625–639
Abstract
In this paper we investigate the dynamics of a system that is a generalization of the Chaplygin sleigh to the case of an inhomogeneous nonholonomic constraint. We perform an explicit integration and a sufficiently complete qualitative analysis of the dynamics.
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Bizyaev I. A., Borisov A. V., Mamaev I. S.
The Hess–Appelrot case and quantization of the rotation number
2017, Vol. 13, No. 3, pp. 433-452
Abstract
This paper is concerned with the Hess case in the Euler–Poisson equations and with its
generalization on the pencil of Poisson brackets. It is shown that in this case the problem reduces
to investigating the vector field on a torus and that the graph showing the dependence of the
rotation number on parameters has horizontal segments (limit cycles) only for integer values of
the rotation number. In addition, an example of a Hamiltonian system is given which possesses
an invariant submanifold (similar to the Hess case), but on which the dependence of the rotation
number on parameters is a Cantor ladder.
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Bizyaev I. A., Borisov A. V., Kilin A. A., Mamaev I. S.
Integrability and nonintegrability of sub-Riemannian geodesic flows on Carnot groups
2017, Vol. 13, No. 1, pp. 129-146
Abstract
This paper is concerned with two systems from sub-Riemannian geometry. One of them is defined by a Carnot group with three generatrices and growth vector (3, 6, 14), the other is defined by two generatrices and growth vector (2, 3, 5, 8). Using a Poincaré map, the nonintegrability of the above systems in the general case is shown. In addition, particular cases are presented in which there exist additional first integrals.
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Bizyaev I. A., Borisov A. V., Mamaev I. S.
Dynamics of the Chaplygin sleigh on a cylinder
2016, Vol. 12, No. 4, pp. 675–687
Abstract
This paper is concerned with the motion of the Chaplygin sleigh on the surface of a circular cylinder. In the case of inertial motion, the problem reduces to the study of the dynamical system on a (two-dimensional) torus and to the classification of singular points. Particular cases in which the system admits an invariant measure are found. In the case of a balanced and dynamically symmetric Chaplygin sleigh moving in a gravitational field it is shown that on the average the system has no drift along the vertical.
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Borisov A. V., Mamaev I. S., Bizyaev I. A.
Historical and critical review of the development of nonholonomic mechanics: the classical period
2016, Vol. 12, No. 3, pp. 385-411
Abstract
In this historical review we describe in detail the main stages of the development of nonholonomic mechanics starting from the work of Earnshaw and Ferrers to the monograph of Yu.I. Neimark and N.A. Fufaev. In the appendix to this review we discuss the d’Alembert–Lagrange principle in nonholonomic mechanics and permutation relations.
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Borisov A. V., Kilin A. A., Mamaev I. S.
On the Hadamard–Hamel problem and the dynamics of wheeled vehicles
2016, Vol. 12, No. 1, pp. 145-163
Abstract
In this paper, we develop the results obtained by J.Hadamard and G.Hamel concerning the possibility of substituting nonholonomic constraints into the Lagrangian of the system without changing the form of the equations of motion. We formulate the conditions for correctness of such a substitution for a particular case of nonholonomic systems in the simplest and universal form. These conditions are presented in terms of both generalized velocities and quasi-velocities. We also discuss the derivation and reduction of the equations of motion of an arbitrary wheeled vehicle. In particular, we prove the equivalence (up to additional quadratures) of problems of an arbitrary wheeled vehicle and an analogous vehicle whose wheels have been replaced with skates. As examples, we consider the problems of a one-wheeled vehicle and a wheeled vehicle with two rotating wheel pairs.
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Bizyaev I. A., Bolsinov A. V., Borisov A. V., Mamaev I. S.
Topology and Bifurcations in Nonholonomic Mechanics
2015, Vol. 11, No. 4, pp. 735–762
Abstract
This paper develops topological methods for qualitative analysis of the behavior of nonholonomic dynamical systems. Their application is illustrated by considering a new integrable system of nonholonomic mechanics, called a nonholonomic hinge. Although this system is nonholonomic, it can be represented in Hamiltonian form with a Lie –Poisson bracket of rank 2. This Lie – Poisson bracket is used to perform stability analysis of fixed points. In addition, all possible types of integral manifolds are found and a classification of trajectories on them is presented.
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Borisov A. V., Mamaev I. S.
Symmetries and Reduction in Nonholonomic Mechanics
2015, Vol. 11, No. 4, pp. 763–823
Abstract
This paper is a review of the problem of the constructive reduction of nonholonomic systems with symmetries. The connection of reduction with the presence of the simplest tensor invariants (first integrals and symmetry fields) is shown. All theoretical constructions are illustrated by examples encountered in applications. In addition, the paper contains a short historical and critical sketch covering the contribution of various researchers to this problem.
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Borisov A. V., Karavaev Y. L., Mamaev I. S., Erdakova N. N., Ivanova T. B., Tarasov V. V.
On the dynamics of a body with an axisymmetric base sliding on a rough plane
2015, Vol. 11, No. 3, pp. 547-577
Abstract
In this paper we investigate the dynamics of a body with a flat base (cylinder) sliding on a horizontal rough plane. For analysis we use two approaches. In one of the approaches using a friction machine we determine the dependence of friction force on the velocity of motion of cylinders. In the other approach using a high-speed camera for video filming and the method of presentation of trajectories on a phase plane for analysis of results, we investigate the qualitative and quantitative behavior of the motion of cylinders on a horizontal plane. We compare the results obtained with theoretical and experimental results found earlier. In addition, we give a systematic review of the well-known experimental and theoretical results in this area.
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Borisov A. V., Mamaev I. S., Bizyaev I. A.
The Jacobi Integral in NonholonomicMechanics
2015, Vol. 11, No. 2, pp. 377-396
Abstract
In this paper we discuss conditions for the existence of the Jacobi integral (that generalizes energy) in systems with inhomogeneous and nonholonomic constraints. As an example, we consider in detail the problem of motion of the Chaplygin sleigh on a rotating plane and the motion of a dynamically symmetric ball on a uniformly rotating surface. In addition, we discuss illustrative mechanical models based on the motion of a homogeneous ball on a rotating table and on the Beltrami surface.
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Borisov A. V., Erdakova N. N., Ivanova T. B., Mamaev I. S.
On the dynamics of a body with an axisymmetric base sliding on a rough plane
2014, Vol. 10, No. 4, pp. 483-495
Abstract
In this paper we investigate the dynamics of a body with a flat base sliding on a inclined plane under the assumption of linear pressure distribution of the body on the plane as the simplest dynamically consistent friction model. Computer-aided analysis of the system’s dynamics on the inclined plane using phase portraits has allowed us to reveal dynamical effects that have not been found earlier.
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Bizyaev I. A., Borisov A. V., Mamaev I. S.
The dynamics of three vortex sources
2014, Vol. 10, No. 3, pp. 319-327
Abstract
In this paper, the integrability of the equations of a system of three vortex sources is shown. A reduced system describing, up to similarity, the evolution of the system’s configurations is obtained. Possible phase portraits and various relative equilibria of the system are presented.
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Borisov A. V., Mamaev I. S.
Invariant Measure and Hamiltonization of Nonholonomic Systems
2014, Vol. 10, No. 3, pp. 355-359
Abstract
This paper discusses new unresolved problems of nonholonomic mechanics. Hypotheses of the possibility of Hamiltonization and the existence of an invariant measure for such systems are advanced.
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Bizyaev I. A., Borisov A. V., Mamaev I. S.
Figures of equilibrium of an inhomogeneous self-gravitating fluid
2014, Vol. 10, No. 1, pp. 73-100
Abstract
This paper is concerned with the figures of equilibrium of a self-gravitating ideal fluid with density stratification and a steady-state velocity field. As in the classical setting, it is assumed that the figure or its layers uniformly rotate about an axis fixed in space. As is well known, when there is no rotation, only a ball can be a figure of equilibrium. It is shown that the ellipsoid of revolution (spheroid) with confocal stratification, in which each layer rotates with inherent constant angular velocity, is at equilibrium. Expressions are obtained for the gravitational potential, change in the angular velocity and pressure, and the conclusion is drawn that the angular velocity on the outer surface is the same as that of the Maclaurin spheroid. We note that the solution found generalizes a previously known solution for piecewise constant density distribution. For comparison, we also present a solution, due to Chaplygin, for a homothetic density stratification. We conclude by considering a homogeneous spheroid in the space of constant positive curvature. We show that in this case the spheroid cannot rotate as a rigid body, since the angular velocity distribution of fluid particles depends on the distance to the symmetry axis. |
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Bolsinov A. V., Borisov A. V., Mamaev I. S.
Geometrization of the Chaplygin reducing-multiplier theorem
2013, Vol. 9, No. 4, pp. 627-640
Abstract
This paper develops the theory of the reducing multiplier for a special class of nonholonomic dynamical systems, when the resulting nonlinear Poisson structure is reduced to the Lie–Poisson bracket of the algebra $e(3)$. As an illustration, the Chaplygin ball rolling problem and the Veselova system are considered. In addition, an integrable gyrostatic generalization of the Veselova system is obtained.
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Borisov A. V., Kilin A. A., Mamaev I. S.
The problem of drift and recurrence for the rolling Chaplygin ball
2013, Vol. 9, No. 4, pp. 721-754
Abstract
We investigate the motion of the point of contact (absolute dynamics) in the integrable problem of the Chaplygin ball rolling on a plane. Although the velocity of the point of contact is a given vector function of variables of a reduced system, it is impossible to apply standard methods of the theory of integrable Hamiltonian systems due to the absence of an appropriate conformally Hamiltonian representation for an unreduced system. For a complete analysis we apply the standard analytical approach, due to Bohl and Weyl, and develop topological methods of investigation. In this way we obtain conditions for boundedness and unboundedness of the trajectories of the contact point.
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Borisov A. V., Mamaev I. S., Karavaev Y. L.
On the loss of contact of the Euler disk
2013, Vol. 9, No. 3, pp. 499-506
Abstract
The paper presents experimental investigation of a homogeneous circular disk rolling on a horizontal plane. In this paper two methods of experimental determination of the loss of contact between the rolling disk and the horizontal surface before the abrupt halt are proposed. Experimental results for disks of different masses and different materials are presented. The reasons for “micro losses” of contact with surface revealed during the rolling are discussed.
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Erdakova N. N., Mamaev I. S.
On the dynamics of a body with an axisymmetric base sliding on a rough plane
2013, Vol. 9, No. 3, pp. 521-545
Abstract
In this paper we investigate the dynamics of a body with a flat base sliding on a horizontal plane under the assumption of linear pressure distribution of the body on the plane as the simplest dynamically consistent friction model. For analysis we use the descriptive function method similar to the methods used in the problems of Hamiltonian dynamics with one degree of freedom and allowing a qualitative analysis of the system to be made without explicit integration of equations of motion. In addition, we give a systematic review of the well-known experimental and theoretical results in this area. |
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Bizyaev I. A., Borisov A. V., Mamaev I. S.
The dynamics of nonholonomic systems consisting of a spherical shell with a moving rigid body inside
2013, Vol. 9, No. 3, pp. 547-566
Abstract
In this paper we investigate two systems consisting of a spherical shell rolling on a plane without slipping and a moving rigid body fixed inside the shell by means of two different mechanisms. In the former case the rigid body is fixed at the center of the ball on a spherical hinge. We show an isomorphism between the equations of motion for the inner body with those for the ball moving on a smooth plane. In the latter case the rigid body is fixed by means of the nonholonomic hinge. The equations of motion for this system have been obtained and new integrable cases found. A special feature of the set of tensor invariants of this system is that it leads to the Euler–Jacobi–Lie theorem, which is a new integration mechanism in nonholonomic mechanics.
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Mamaev I. S., Ivanova T. B.
The dynamics of rigid body whose sharp edge is in contact with a inclined surface with dry friction
2013, Vol. 9, No. 3, pp. 567-594
Abstract
In this paper we consider the dynamics of rigid body whose sharp edge is in contact with a rough plane. The body can move so that its contact point does not move or slips or loses touch with the support. In this paper, the dynamics of the system is considered within three mechanical models that describe different modes of motion. The boundaries of definition range of each model are given, the possibility of transitions from one mode to another and their consistency with different coefficients of friction on the horizontal and inclined surfaces is discussed.
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Borisov A. V., Mamaev I. S., Bizyaev I. A.
The hierarchy of dynamics of a rigid body rolling without slipping and spinning on a plane and a sphere
2013, Vol. 9, No. 2, pp. 141-202
Abstract
In this paper, we investigate the dynamics of systems describing the rolling without slipping and spinning (rubber rolling) of various rigid bodies on a plane and a sphere. It is shown that a hierarchy of possible types of dynamical behavior arises depending on the body’s surface geometry and mass distribution. New integrable cases and cases of existence of an invariant measure are found. In addition, these systems are used to illustrate that the existence of several nontrivial involutions in reversible dissipative systems leads to quasi-Hamiltonian behavior.
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Borisov A. V., Kilin A. A., Mamaev I. S.
How to control the Chaplygin ball using rotors. II
2013, Vol. 9, No. 1, pp. 59-76
Abstract
In our earlier paper [2] we examined the problem of control of a balanced dynamically nonsymmetric sphere with rotors with no-slip condition at the point of contact. In this paper we investigate the controllability of a ball in the presence of friction. We also study the problem of the existence and stability of singular dissipation-free periodic solutions for a free ball in the presence of friction forces. The issues of constructive realization of the proposed algorithms are discussed.
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Borisov A. V., Mamaev I. S.
Topological analysis of one integrable system related to the rolling of a ball over a sphere
2012, Vol. 8, No. 5, pp. 957-975
Abstract
A new integrable system describing the rolling of a rigid body with a spherical cavity over a spherical base is considered. Previously the authors found the separation of variables for this system at the zero level of a linear (in angular velocity) first integral, whereas in the general case it is not possible to separate the variables. In this paper we show that the foliation into invariant tori in this problem is equivalent to the corresponding foliation in the Clebsch integrable system in rigid body dynamics (for which no real separation of variables has been found either). In particular, a fixed point of focus type is possible for this system, which can serve as a topological obstacle to the real separation of variables.
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Borisov A. V., Mamaev I. S., Treschev D. V.
Rolling of a rigid body without slipping and spinning: kinematics and dynamics
2012, Vol. 8, No. 4, pp. 783-797
Abstract
In this paper we investigate various kinematic properties of rolling of one rigid body on another both for the classical model of rolling without slipping (the velocities of bodies at the point of contact coincide) and for the model of rubber-rolling (with the additional condition that the spinning of the bodies relative to each other be excluded). Furthermore, in the case where both bodies are bounded by spherical surfaces and one of them is fixed, the equations of motion for a moving ball are represented in the form of the Chaplygin system. When the center of mass of the moving ball coincides with its geometric center, the equations of motion are represented in conformally Hamiltonian form, and in the case where the radii of the moving and fixed spheres coincides, they are written in Hamiltonian form.
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Vetchanin E. V., Mamaev I. S., Tenenev V. A.
The motion of a body with variable mass geometry in a viscous fluid
2012, Vol. 8, No. 4, pp. 815-836
Abstract
An investigation of the characteristics of motion of a rigid body with variable internal mass distribution in a viscous fluid is carried out on the basis of a joint numerical solution of the Navier–Stokes equations and equations of motion. A non-stationary three-dimensional solution to the problem is found. The motion of a sphere and a drop-shaped body in a viscous fluid, which is caused by the motion of internal material points, in a gravitational field is explored. The possibility of motion of a body in an arbitrary given direction is shown.
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Bolsinov A. V., Borisov A. V., Mamaev I. S.
Rolling without spinning of a ball on a plane: absence of an invariant measure in a system with a complete set of first integrals
2012, Vol. 8, No. 3, pp. 605-616
Abstract
In the paper we consider a system of a ball that rolls without slipping on a plane. The ball is assumed to be inhomogeneous and its center of mass does not necessarily coincide with its geometric center. We have proved that the governing equations can be recast into a system of six ODEs that admits four integrals of motion. Thus, the phase space of the system is foliated by invariant 2-tori; moreover, this foliation is equivalent to the Liouville foliation encountered in the case of Euler of the rigid body dynamics. However, the system cannot be solved in terms of quadratures because there is no invariant measure which we proved by finding limit cycles.
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Borisov A. V., Kilin A. A., Mamaev I. S.
How to control the Chaplygin sphere using rotors
2012, Vol. 8, No. 2, pp. 289-307
Abstract
In the paper we study control of a balanced dynamically nonsymmetric sphere with rotors. The no-slip condition at the point of contact is assumed. The algebraic contrability is shown and the control inputs providing motion of the ball along a given trajectory on the plane are found. For some simple trajectories explicit tracking algorithms are proposed.
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Borisov A. V., Mamaev I. S.
The dynamics of the Chaplygin ball with a fluid-filled cavity
2012, Vol. 8, No. 1, pp. 103-111
Abstract
We consider the problem of rolling of a ball with an ellipsoidal cavity filled with an ideal fluid, which executes a uniform vortex motion, on an absolutely rough plane. We point out the case of existence of an invariant measure and show that there is a particular case of integrability under conditions of axial symmetry.
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Borisov A. V., Kilin A. A., Mamaev I. S.
The dynamics of vortex rings: Leapfrogging, choreographies and the stability problem
2012, Vol. 8, No. 1, pp. 113-147
Abstract
We consider the problem of the motion of axisymmetric vortex rings in an ideal incompressible fluid. Using the topological approach, we present a method for complete qualitative analysis of the dynamics of a system of two vortex rings. In particular, we completely solve the problem of describing the conditions for the onset of leapfrogging motion of vortex rings. In addition, for the system of two vortex rings we find new families of motions in which the mutual distances remain finite (we call them pseudo-leapfrogging). We also find solutions for the problem of three vortex rings, which describe both the regular and chaotic leapfrogging motion of vortex rings.
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Borisov A. V., Kilin A. A., Mamaev I. S.
An omni-wheel vehicle on a plane and a sphere
2011, Vol. 7, No. 4, pp. 785-801
Abstract
We consider a nonholonomic model of the dynamics of an omni-wheel vehicle on a plane and a sphere. An elementary derivation of equations is presented, the dynamics of a free system is investigated, a relation to control problems is shown.
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Borisov A. V., Mamaev I. S.
Two non-holonomic integrable systems of coupled rigid bodies
2011, Vol. 7, No. 3, pp. 559-568
Abstract
The paper considers two new integrable systems due to Chaplygin, which describe the rolling of a spherical shell on a plane, with a ball or Lagrange’s gyroscope inside. All necessary first integrals and an invariant measure are found. The reduction to quadratures is given.
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Bolsinov A. V., Borisov A. V., Mamaev I. S.
The bifurcation analysis and the Conley index in mechanics
2011, Vol. 7, No. 3, pp. 649-681
Abstract
The paper is concerned with the use of bifurcation analysis and the Conley index in Hamiltonian dynamical systems. We give the proof of the theorem on the appearance (disappearance) of fixed points in the case of the Morse index change. New relative equilibria in the problem of the motion of point vortices of equal intensity in a circle are found.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Generalized Chaplygin’s transformation and explicit integration of a system with a spherical support
2011, Vol. 7, No. 2, pp. 313-338
Abstract
We consider the problem of explicit integration and bifurcation analysis for two systems of nonholonomic mechanics. The first one is the Chaplygin’s problem on no-slip rolling of a balanced dynamically non-symmetrical ball on a horizontal plane. The second problem is on the motion of rigid body in a spherical support. We explicitly integrate this problem by generalizing the transformation which Chaplygin applied to the integration of the problem of the rolling ball at a non-zero constant of areas. We consider the geometric interpretation of this transformation from the viewpoint of a trajectory isomorphism between two systems at different levels of the energy integral. Generalization of this transformation for the case of dynamics in a spherical support allows us to integrate the equations of motion explicitly in quadratures and, in addition, to indicate periodic solutions and analyze their stability. We also show that adding a gyrostat does not lead to the loss of integrability.
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Borisov A. V., Gazizullina L., Mamaev I. S.
On V.A. Steklov’s legacy in classical mechanics
2011, Vol. 7, No. 2, pp. 389-403
Abstract
This paper has been written for a collection of V.A. Steklov’s selected works, which is being prepared for publication and is entitled «Works on Mechanics 1902–1909: Translations from French». The collection is based on V.A. Steklov’s papers on mechanics published in French journals from 1902 to 1909.
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Borisov A. V., Mamaev I. S., Vaskina A. V.
Stability of new relative equilibria of the system of three point vortices in a circular domain
2011, Vol. 7, No. 1, pp. 119-138
Abstract
This paper presents a topological approach to the search and stability analysis of relative equilibria of three point vortices of equal intensities. It is shown that the equations of motion can be reduced by one degree of freedom. We have found two new stationary configurations (isosceles and non-symmetrical collinear) and studied their bifurcations and stability.
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Borisov A. V., Mamaev I. S., Ivanova T. B.
Stability of a liquid self-gravitating elliptic cylinder with intrinsic rotation
2010, Vol. 6, No. 4, pp. 807-822
Abstract
We consider figures of equilibrium and stability of a liquid self-gravitating elliptic cylinder. The flow within the cylinder is assumed to be dew to an elliptic perturbation. A bifurcation diagram is plotted and conditions for steady solutions to exist are indicated.
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Bolsinov A. V., Borisov A. V., Mamaev I. S.
Hamiltonisation of non-holonomic systems in the neighborhood of invariant manifolds
2010, Vol. 6, No. 4, pp. 829-854
Abstract
Hamiltonisation problem for non-holonomic systems, both integrable and non-integrable, is considered. This question is important for qualitative analysis of such systems and allows one to determine possible dynamical effects. The first part is devoted to the representation of integrable systems in a conformally Hamiltonian form. In the second part, the existence of a conformally Hamiltonian representation in a neighbourhood of a periodic solution is proved for an arbitrary measure preserving system (including integrable). General consructions are always illustrated by examples from non-holonomic mechanics.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Rolling of a homogeneous ball over a dynamically asymmetric sphere
2010, Vol. 6, No. 4, pp. 869-889
Abstract
We consider a novel mechanical system consisting of two spherical bodies rolling over each other, which is a natural extension of the famous Chaplygin problem of rolling motion of a ball on a plane. In contrast to the previously explored non-holonomic systems, this one has a higher dimension and is considerably more complicated. One remarkable property of our system is the existence of «clandestine» linear in momenta first integrals. For a more trivial integrable system, their counterparts were discovered by Chaplygin. We have also found a few cases of integrability.
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Borisov A. V., Mamaev I. S.
Reply to A. T. Fomenko's comments
2010, Vol. 6, No. 4, pp. 893-895
Abstract
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Borisov A. V., Bolotin S. V., Kilin A. A., Mamaev I. S., Treschev D. V.
Valery Vasilievich Kozlov. On his 60th birthday
2010, Vol. 6, No. 3, pp. 461-488
Abstract
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Borisov A. V., Mamaev I. S., Ramodanov S. M.
Dynamic advection
2010, Vol. 6, No. 3, pp. 521-530
Abstract
A new concept of dynamic advection is introduced. The model of dynamic advection deals with the motion of massive particles in a 2D flow of an ideal incompressible liquid. Unlike the standard advection problem, which is widely treated in the modern literature, our equations of motion account not only for particles’ kinematics, governed by the Euler equations, but also for their dynamics (which is obviously neglected if the mass of particles is taken to be zero). A few simple model problems are considered.
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Vaskin V. V., Vaskina A. V., Mamaev I. S.
Problems of stability and asymptotic behavior of vortex patches on the plane
2010, Vol. 6, No. 2, pp. 327-343
Abstract
With the help of mathematical modelling, we study the dynamics of many point vortices system on the plane. For this system, we consider the following cases: — vortex rings with outer radius $r = 1$ and variable inner radius $r_0$, — vortex ellipses with semiaxes $a$, $b$. The emphasis is on the analysis of the asymptotic $(t → ∞)$ behavior of the system and on the verification of the stability criteria for vorticity continuous distributions. |
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Borisov A. V., Kilin A. A., Mamaev I. S.
On the model of non-holonomic billiard
2010, Vol. 6, No. 2, pp. 373-385
Abstract
In this paper we develop a new model of non-holonomic billiard that accounts for the intrinsic rotation of the billiard ball. This model is a limit case of the problem of rolling without slipping of a ball without slipping over a quadric surface. The billiards between two parallel walls and inside a circle are studied in detail. Using the three-dimensional-point-map technique, the non-integrability of the non-holonomic billiard within an ellipse is shown.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Hamiltonian representation and integrability of the Suslov problem
2010, Vol. 6, No. 1, pp. 127-142
Abstract
We consider the problems of Hamiltonian representation and integrability of the nonholonomic Suslov system and its generalization suggested by S. A. Chaplygin. These aspects are very important for understanding the dynamics and qualitative analysis of the system. In particular, they are related to the nontrivial asymptotic behaviour (i. e. to some scattering problem). The paper presents a general approach based on the study of the hierarchy of dynamical behaviour of nonholonomic systems.
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Borisov A. V., Kilin A. A., Mamaev I. S.
New superintegrable system on a sphere
2009, Vol. 5, No. 4, pp. 455-462
Abstract
We consider the motion of a material point on the surface of a sphere in the field of 2n+1 identical Hooke centers (singularities with elastic potential) lying on a great circle. Our main result is that this system is superintegrable. The property of superintegrability for this system has been conjectured by us in [3], where the structure of a superintegral of arbitrarily high odd degree in momemnta was outlined. We also indicate an isomorphism between this system and the one-dimensional N-particle system discussed in the recent paper [13] and show that for the latter system an analogous superintegral can be constructed.
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Borisov A. V., Mamaev I. S., Ramodanov S. M.
Coupled motion of a rigid body and point vortices on a sphere
2009, Vol. 5, No. 3, pp. 319-343
Abstract
The paper is concerned with a class of problems which involves the dynamical interaction of a rigid body with point vortices on the surface of a two-dimensional sphere. The general approach to the 2D hydrodynamics is further developed. The problem of motion of a dynamically symmetric circular body interacting with a single vortex is shown to be integrable. Mass vortices on $S^2$ are introduced and the related issues (such as equations of motion, integrability, partial solutions, etc.) are discussed. This paper is a natural progression of the author’s previous research on interaction of rigid bodies and point vortices in a plane.
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Vaskin V. V., Erdakova N. N., Mamaev I. S.
Statistical mechanics of nonlinear dynamical systems
2009, Vol. 5, No. 3, pp. 385-402
Abstract
With the help of mathematical modeling, we study the behavior of a gas ($\sim10^6$ particles) in a one-dimensional tube. For this dynamical system, we consider the following cases: — collisionless gas (with and without gravity) in a tube with both ends closed, the particles of the gas bounce elastically between the ends, — collisionless gas in a tube with its left end vibrating harmonically in a prescribed manner, — collisionless gas in a tube with a moving piston, the piston’s mass is comparable to the mass of a particle. The emphasis is on the analysis of the asymptotic ($t→∞$)) behavior of the system and specifically on the transition to the state of statistical or thermal equilibrium. This analysis allows preliminary conclusions on the nature of relaxation processes. At the end of the paper the numerical and theoretical results obtained are discussed. It should be noted that not all the results fit well the generally accepted theories and conjectures from the standard texts and modern works on the subject. |
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Borisov A. V., Mamaev I. S.
Isomorphisms of geodesic flows on quadrics
2009, Vol. 5, No. 2, pp. 145-158
Abstract
We consider several well-known isomorphisms between Jacobi’s geodesic problem and some integrable cases from rigid body dynamics (the cases of Clebsch and Brun). A relationship between these isomorphisms is indicated. The problem of compactification for geodesic flows on noncompact surfaces is stated. This problem is hypothesized to be intimately connected with the property of integrability.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Multiparticle Systems. The Algebra of Integrals and Integrable Cases
2009, Vol. 5, No. 1, pp. 53-82
Abstract
Systems of material points interacting both with one another and with an external field are considered in Euclidean space. For the case of arbitrary binary interaction depending solely on the mutual distance between the bodies, new integrals are found, which form a Galilean momentum vector. A corresponding algebra of integrals constituted by the integrals of momentum, angular momentum, and Galilean momentum is presented. Particle systems with a particle-interaction potential homogeneous of degree $α=-2$ are considered. The most general form of the additional integral of motion, which we term the Jacobi integral, is presented for such systems. A new nonlinear algebra of integrals including the Jacobi integral is found. A systematic description is given to a new reduction procedure and possibilities of applying it to dynamics with the aim of lowering the order of Hamiltonian systems. Some new integrable and superintegrable systems generalizing the classical ones are also described. Certain generalizations of the Lagrangian identity for systems with a particle-interaction potential homogeneous of degree $α=-2$ are presented. In addition, computational experiments are used to prove the nonintegrability of the Jacobi problem on a plane. |
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Borisov A. V., Mamaev I. S., Kilin A. A.
Hamiltonian Dynamics of Liquid and Gas Self-Gravitating Ellipsoids
2008, Vol. 4, No. 4, pp. 363-406
Abstract
The paper contains the review and original results on the dynamics of liquid and gas self-gravitating ellipsoids. Equations of motion are given in Lagrangian and Hamiltonian form, in particular, the Hamiltonian formalism on Lie algebras is presented. Problems of nonintegrability and chaotical behavior of the system are formulated and studied. We also classify all known integrable cases and give some hypotheses about nonintegrability in the general case. Results of numerical modelling are presented, which can be considered as a computer proof of nonintegrability.
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Borisov A. V., Mamaev I. S., Ramodanov S. M.
Algebraic reduction of systems on two- and three-dimensional spheres
2008, Vol. 4, No. 4, pp. 407-416
Abstract
The paper develops further the algebraic-reduction method for $SO(4)$-symmetric systems on the three-dimensional sphere. Canonical variables for the reduced system are constructed both on two-dimensional and three-dimensional spheres. The method is illustrated by applying it to the two-body problem on a sphere (the bodies are assumed to interact with a potential that depends only on the geodesic distance between them) and the three-vortex problem on a two-dimensional sphere.
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Borisov A. V., Mamaev I. S.
Conservation Laws, Hierarchy of Dynamics and Explicit Integration of Nonholonomic Systems
2008, Vol. 4, No. 3, pp. 223-280
Abstract
This paper can be regarded as a continuation of our previous work [70,71] on the hierarchy of the dynamical behavior of nonholonomic systems. We consider different mechanical systems with nonholonomic constraints; in particular, we examine the existence of tensor invariants (laws of conservation) and their connection with the behavior of a system. Considerable attention is given to the possibility of conformally Hamiltonian representation of the equations of motion, which is mainly used for the integration of the considered systems.
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Borisov A. V., Mamaev I. S., Ramodanov S. M.
Motion of two spheres in ideal fluid. I. Equations o motions in the Euclidean space. First integrals and reduction
2007, Vol. 3, No. 4, pp. 411-422
Abstract
The paper deals with the derivation of the equations of motion for two spheres in an unbounded volume of ideal and incompressible fluid in 3D Euclidean space. Reduction of order, based on the use of new variables that form a Lie algebra, is offered. A trivial case of integrability is indicated.
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Borisov A. V., Kozlov V. V., Mamaev I. S.
Asymptotic stability and associated problems of dynamics of falling rigid body
2007, Vol. 3, No. 3, pp. 255-296
Abstract
We consider two problems from the rigid body dynamics and use new methods of stability and asymptotic behavior analysis for their solution. The first problem deals with motion of a rigid body in an unbounded volume of ideal fluid with zero vorticity. The second problem, having similar asymptotic behavior, is concerned with motion of a sleigh on an inclined plane. The equations of motion for the second problem are non-holonomic and exhibit some new features not typical for Hamiltonian systems. A comprehensive survey of references is given and new problems connected with falling motion of heavy bodies in fluid are proposed.
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Borisov A. V., Kilin A. A., Mamaev I. S.
A New Integrable Problem of Motion of Point Vortices on the Sphere
2007, Vol. 3, No. 2, pp. 211-223
Abstract
The dynamics of an antipodal vortex on a sphere (a point vortex plus its antipode with opposite circulation) is considered. It is shown that the system of n antipodal vortices can be reduced by four dimensions (two degrees of freedom). The cases n=2,3 are explored in greater detail both analytically and numerically. We discuss Thomson, collinear and isosceles configurations of antipodal vortices and study their bifurcations.
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Borisov A. V., Mamaev I. S.
On isomorphisms of some integrable systems on a plane and a sphere
2007, Vol. 3, No. 1, pp. 49-56
Abstract
We consider
trajectory isomorphisms between various integrable
systems on an $n$-dimensional sphere $S^n$ and a Euclidean space $R^n$.
Some of the systems are classical integrable problems of Celestial Mechanics
in plane and curved spaces. All the systems under consideration have an additional
first integral quadratic in momentum and can be integrated analytically by using
the separation of variables. We show that
some integrable problems in constant curvature spaces are not essentially new from the viewpoint of the
theory of integration, and they can be analyzed using known results of classical Celestial Mechanics.
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Borisov A. V., Mamaev I. S.
Rolling of a heterotgeneous ball over a sphere without sliding and spinning
2006, Vol. 2, No. 4, pp. 445-452
Abstract
Consider the problem of rolling a dynamically asymmetric balanced ball (the Chaplygin ball) over a sphere. Suppose that the contact point has zero velocity and the projection of the angular velocity to the normal vector of the sphere equals zero. This model of rolling differs from the classical one. It can be realized, in some approximation, if the ball is rubber coated and the sphere is absolutely rough. Recently, Koiller and Ehlers pointed out the measure and the Hamiltonian structure for this problem. Using this structure we construct an isomorphism between this problem and the problem of the motion of a point on a sphere in some potential field. The integrable cases are found.
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Borisov A. V., Mamaev I. S.
Reduction in the two-body problem on the Lobatchevsky plane
2006, Vol. 2, No. 3, pp. 279-285
Abstract
We present a reduction-of-order procedure in the problem of motion of two bodies on the Lobatchevsky plane $H^2$. The bodies interact with a potential that depends only on the distance between the bodies (this holds for an analog of the Newtonian potential). In earlier works, this reduction procedure was used to analyze the motion of two bodies on the sphere
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Borisov A. V., Kilin A. A., Mamaev I. S.
Stability of steady rotations in the non-holonomic Routh problem
2006, Vol. 2, No. 3, pp. 333-345
Abstract
We have discovered a new first integral in the problem of motion of a dynamically symmetric ball, subject to gravity, on the surface of a paraboloid. Using this integral, we have obtained conditions for stability (in the Lyapunov sense) of steady rotations of the ball in the upmost, downmost and saddle point.
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Borisov A. V., Mamaev I. S.
Dynamics of two vortex rings on a sphere
2006, Vol. 2, No. 2, pp. 181-192
Abstract
The motion of two vortex rings on a sphere is considered. This motion generalizes the well-known centrally symmetrical solution of the equations of point vortex dynamics on a plane derived by D.N. Goryachev and H. Aref. The equations of motion in this case are shown to be Liouville integrable, and an explicit reduction to a Hamiltonian system with one degree of freedom is described. Two particular cases in which the solutions are periodical are presented. Explicit quadratures are given for these solutions. Phase portraits are described and bifurcation diagrams are shown for centrally symmetrical motion of four vortices on a sphere.
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Borisov A. V., Mamaev I. S.
Interaction between Kirchhoff vortices and point vortices in an ideal fluid
2006, Vol. 2, No. 2, pp. 199-213
Abstract
We consider the interaction of two vortex patches (elliptic Kirchhoff vortices) which move in an unbounded volume of an ideal incompressible fluid. A moment second-order model is used to describe the interaction. The case of integrability of a Kirchhoff vortex and a point vortex by the variable separation method is qualitatively analyzed. A new case of integrability of two Kirchhoff vortices is found. A reduced form of equations for two Kirchhoff vortices is proposed and used to analyze their regular and chaotic behavior.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Chaos in a restricted problem of rotation of a rigid body with a fixed point
2005, Vol. 1, No. 2, pp. 191-207
Abstract
The paper deals with a transition to chaos in the phase-plane portrait of a restricted problem of rotation of a rigid body with a fixed point. Two interrelated mechanisms responsible for chaotisation have been indicated: 1) growth of the homoclinic structure and 2) development of cascades of period doubling bifurcations. On the zero level of the integral of areas, an adiabatic behavior of the system (as the energy tends to zero) has been noticed. Meander tori induced by the breakdown of the torsion property of the mapping have been found.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Reduction and chaotic behavior of point vortices on a plane and a sphere
2005, Vol. 1, No. 2, pp. 233-246
Abstract
We offer a new method of reduction for a system of point vortices on a plane and a sphere. This method is similar to the classical node elimination procedure. However, as applied to the vortex dynamics, it requires substantial modification. Reduction of four vortices on a sphere is given in more detail. We also use the Poincare surface-of-section technique to perform the reduction a four-vortex system on a sphere.
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Borisov A. V., Kilin A. A., Mamaev I. S.
Absolute and relative choreographies in rigid body dynamics
2005, Vol. 1, No. 1, pp. 123-141
Abstract
For the classical problem of motion of a rigid body about a fixed point with zero integral of areas, the paper presents a family of solutions which are periodic in the absolute space. Such solutions are known as choreographies. The family includes the famous Delaunay solution in the case of Kovalevskaya, some particular solutions in the Goryachev-Chaplygin case and Steklov’s solution. The «genealogy» of the solutions of the family, arising naturally from the energy continuation, and their connection with the Staude rotations are considered. It is shown that if the integral of areas is zero, the solutions are periodic but with respect to a coordinate frame that rotates uniformly about the vertical (relative choreographies). |
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Borisov A. V., Mamaev I. S., Ramodanov S. M.
Interaction of two circular cylinders in a perfect fluid
2005, Vol. 1, No. 1, pp. 3-21
Abstract
In this paper we consider the system of two 2D rigid circular cylinders immersed in an unbounded volume of inviscid perfect fluid. The circulations around the cylinders are assumed to be equal in magnitude and opposite in sign. Special cases of this system (the cylinders move along the line through their centers and the circulation around each cylinder is zero) are considered. A similar system of two interacting spheres was originally considered in classical works of Carl and Vilhelm Bjerknes, G. Lamb and N.E. Joukowski.
By making the radii of the cylinders infinitesimally small, we have obtained a new mechanical system which consists of two regular point vortices but with non-zero masses. The study of this system can be reduced to the study of the motion of a particle subject to potential and gyroscopic forces. A new integrable case is found. The Hamiltonian equations of motion for this system have been generalized to the case of an arbitrary number of mass vortices with arbitrary intensities. Some first integrals have been obtained. These equations expand upon the classical Kirchhoff equations of motion for n point vortices. |