Related papers: Integrability and Chaos in Figure Skating
A unifying slipping and sticking frictional impact model for multibody systems in contact with a frictional surface is presented. It is shown that the model can lead to energetic consistency in both slip state and stick state upon imposing…
The onset of chaos and the mechanism of rotational damping are studied in an exactly soluble particle-rotor model. It is shown that the degree of chaoticity as inferred from the statistical measures is closely related to the onset of…
We obtained new periodic solutions in the problems of three and four point vortices moving on a plane. In the case of three vortices, the system is reduced to a Hamiltonian system with one degree of freedom, and it is integrable. In the…
This paper investigates a planar tracking problem between a leader and follower agent. We propose a novel feedback speed control law, paired with a constant bearing steering strategy, to maintain an abreast formation between the two agents.…
We consider the nonholonomic systems of $n$ homogeneous balls $\mathbf B_1,\dots,\mathbf B_n$ with the same radius $r$ that are rolling without slipping about a fixed sphere $\mathbf S_0$ with center $O$ and radius $R$. In addition, it is…
We investigate regular and chaotic two-dimensional (2D) and three-dimensional (3D) orbits of stars in models of a galactic potential consisting in a disk, a halo and a bar, to find the origin of boxy components, which are part of the bar or…
In general relativity, the motion of an extended body moving in a given spacetime can be described by a particle on a (generally non-geodesic) worldline. In first approximation, this worldline is a geodesic of the underlying spacetime, and…
In this paper, we present an efficient form of Volterra's equations of motion for both unconstrained and constrained multibody dynamical systems that include ignorable coordinates. The proposed method is applicable for systems with both…
While current humanoid whole-body control frameworks predominantly rely on the static environment assumptions, addressing tasks characterized by high dynamism and complex interactions presents a formidable challenge. In this paper, we…
We study four particular 3-dimensional natural Hamiltonian systems defined in conformally Euclidean spaces. We prove their superintegrability and we obtain, in the four cases, the maximal number of functionally independent integrals of…
The dynamics of filaments in flow are central to understanding a wide range of biological and soft-matter systems, yet their behavior under time-dependent forcing remains poorly understood. Here, we investigate the long-time dynamics of…
Remarkably persistent mixing and non-mixing regions (islands) are observed to coexist in a three-dimensional dynamical system where randomness is expected. The track of an x-ray opaque particle in a spherical shell half-filled with dry…
Crawling is a common locomotion mechanism in soft robots and nonskeletal animals. In this work we propose modeling soft-robotic legged locomotion by approximating it with an equivalent articulated robot with elastic joints. For concreteness…
Nonlinear gyrotropic medium is a medium, whose natural optical activity depends on the intensity of the incident light wave. The Kuhn's model is used to study nonlinear gyrotropic medium with great success. The Kuhn's model presents itself…
We consider the problem of $n$ points with positive masses interacting pairwise with forces inversely proportional to the distance between them. In particular, it is the classical gravitational, Coulomb or photo-gravitational $n$-body…
Recently it has been found that different physical systems driven by identical random noise behave exactly identical after a long time. It is also suggested that this is an outcome of finite precision in numerical experiments. Here we show…
Unraveling the mechanisms of ergodicity breaking in complex quantum systems is a central pursuit in nonequilibrium physics. In this work, we investigate a one-dimensional spin model featuring a tunable long-range hopping term, $H_{n}$,…
In this paper, we study an integrable system with both quadratic and cubic nonlinearity: $m_t=bu_x+1/2k_1[m(u^2-u^2_x)]_x+1/2k_2(2m u_x+m_xu)$, $m=u-u_{xx}$, where $b$, $k_1$ and $k_2$ are arbitrary constants. This model is kind of a cubic…
This thesis studies instabilities and singularities in a geometrical approach to the planar 3-body problem as well as instabilities, chaos and ergodicity in the 3-rotor problem. Trajectories of the planar 3-body problem are expressed as…
This paper summarises a numerical investigation of the statistical properties of orbits evolved in `frozen,' time-independent N-body realisations of smooth, time-independent density distributions, allowing for 10^(2.5)<N<10^(5.5). Two…