Stiffness pathologies in discrete granular systems: bifurcation, neutral equilibrium, and instability in the presence of kinematic constraints

The paper develops the stiffness relationship between the movements and forces among a system of discrete interacting grains. The approach is similar to that used in structural analysis, but the stiffness matrix of granular material is inherently non-symmetric because of the geometrics of particle interactions and of the frictional behavior of the contacts. Internal geometric constraints are imposed by the particles' shapes, in particular, by the surface curvatures of the particles at their points of contact. Moreover, the stiffness relationship is incrementally non-linear, and even small assemblies require the analysis of multiple stiffness branches, with each branch region being a pointed convex cone in displacement-space. These aspects of the particle-level stiffness relationship gives rise to three types of micro-scale failure: neutral equilibrium, bifurcation and path instability, and instability of equilibrium. These three pathologies are defined in the context of four types of displacement constraints, which can be readily analyzed with certain generalized inverses. That is, instability and non-uniqueness are investigated in the presence of kinematic constraints. Bifurcation paths can be either stable or unstable, as determined with the Hill-Bazant-Petryk criterion. Examples of simple granular systems of three, sixteen, and sixty four disks are analyzed. With each system, multiple contacts were assumed to be at the friction limit. Even with these small systems, micro-scale failure is expressed in many different forms, with some systems having hundreds of micro-scale failure modes. The examples suggest that micro-scale failure is pervasive within granular materials, with particle arrangements being in a nearly continual state of instability

Relative Critical Points

Relative equilibria of Lagrangian and Hamiltonian systems with symmetry are critical points of appropriate scalar functions parametrized by the Lie algebra (or its dual) of the symmetry group. Setting aside the structures - symplectic, Poisson, or variational - generating dynamical systems from such functions highlights the common features of their construction and analysis, and supports the construction of analogous functions in non-Hamiltonian settings. If the symmetry group is nonabelian, the functions are invariant only with respect to the isotropy subgroup of the given parameter value. Replacing the parametrized family of functions with a single function on the product manifold and extending the action using the (co)adjoint action on the algebra or its dual yields a fully invariant function. An invariant map can be used to reverse the usual perspective: rather than selecting a parametrized family of functions and finding their critical points, conditions under which functions will be critical on specific orbits, typically distinguished by isotropy class, can be derived. This strategy is illustrated using several well-known mechanical systems - the Lagrange top, the double spherical pendulum, the free rigid body, and the Riemann ellipsoids - and generalizations of these systems

Steve Smale and Geometric Mechanics

Thus, one can say-perhaps with only a slight danger of oversimplification- that reduction theory synthesises the work of Smale, Arnold (and their predecesors of course) into a bundle, with Smale as the base and Arnold as the fiber. This bundle has interesting topology and carries mechanical connections (with associated Chern classes and Hannay-Berry phases) and has interesting singularities (Arms, Marsden, and Moncrief, Guillemin and Sternberg, Atiyab, and otbers). We will describe some of these features later

Numerical loop quantum cosmology: an overview

A brief review of various numerical techniques used in loop quantum cosmology and results is presented. These include the way extensive numerical simulations shed insights on the resolution of classical singularities, resulting in the key prediction of the bounce at the Planck scale in different models, and the numerical methods used to analyze the properties of the quantum difference operator and the von Neumann stability issues. Using the quantization of a massless scalar field in an isotropic spacetime as a template, an attempt is made to highlight the complementarity of different methods to gain understanding of the new physics emerging from the quantum theory. Open directions which need to be explored with more refined numerical methods are discussed.Comment: 33 Pages, 4 figures. Invited contribution to appear in Classical and Quantum Gravity special issue on Non-Astrophysical Numerical Relativit

Stability of relative equilibria with singular momentum values in simple mechanical systems

A method for testing $G_\mu$-stability of relative equilibria in Hamiltonian systems of the form "kinetic + potential energy" is presented. This method extends the Reduced Energy-Momentum Method of Simo et al. to the case of non-free group actions and singular momentum values. A normal form for the symplectic matrix at a relative equilibrium is also obtained.Comment: Partially rewritten. Some mistakes fixed. Exposition improve

One-dimensional solitary waves in singular deformations of SO(2) invariant two-component scalar field theory models

In this paper we study the structure of the manifold of solitary waves in some deformations of SO(2) symmetric two-component scalar field theoretical models in two-dimensional Minkowski space. The deformation is chosen in order to make the analogous mechanical system Hamilton-Jacobi separable in polar coordinates and displays a singularity at the origin of the internal plane. The existence of the singularity confers interesting and intriguing properties to the solitary waves or kink solutions.Comment: 25 pages, 18 figure

Geometric Mechanics, Stability and Control

This paper gives an overview of selected topics in mechanics and their relation to questions of stability, control and stabilization. The mechanical connection, whose holonomy gives phases and that plays an important role in block diagonalization, provides a unifying theme