Hydrodynamic equations for incompressible inviscid fluid in terms of generalized stream function

Hydrodynamic equations for ideal incompressible fluid are written in terms of generalized stream function. Two-dimensional version of these equations is transformed to the form of one dynamic equation for the stream function. This equation contains arbitrary function which is determined by inflow conditions given on the boundary. To determine unique solution, velocity and vorticity (but not only velocity itself) must be given on the boundary. This unexpected circumstance may be interpreted in the sense that the fluid has more degrees of freedom, than it was believed. Besides, the vorticity is less observable quantity as compared with the velocity. It is shown that the Clebsch potentials are used essentially at the description of vortical flow.Comment: 31 pages, 0 figures, The paper is reduced. Consideration of nonstationary flow has been remove

A General Numerical Method for Hyper-Redundant Manipulator Inverse Kinematics

Hyper-redundant robots have a very large or infinite degree of kinematic redundancy. A generalized resolved-rate technique for solving hyper-redundant manipulator inverse kinematics using a backbone curve is introduced. This method is applicable even in cases when explicit representation of the backbone curve intrinsic geometry cannot be written in closed form. Problems of end-effector trajectory tracking which were previously intractable can now be handled with this technique. Examples include configurations generated using the calculus of variations. The method is naturally parallelizable for fast digital and/or analog computation

Solitary waves of nonlinear nonintegrable equations

Our goal is to find closed form analytic expressions for the solitary waves of nonlinear nonintegrable partial differential equations. The suitable methods, which can only be nonperturbative, are classified in two classes. In the first class, which includes the well known so-called truncation methods, one \textit{a priori} assumes a given class of expressions (polynomials, etc) for the unknown solution; the involved work can easily be done by hand but all solutions outside the given class are surely missed. In the second class, instead of searching an expression for the solution, one builds an intermediate, equivalent information, namely the \textit{first order} autonomous ODE satisfied by the solitary wave; in principle, no solution can be missed, but the involved work requires computer algebra. We present the application to the cubic and quintic complex one-dimensional Ginzburg-Landau equations, and to the Kuramoto-Sivashinsky equation.Comment: 28 pages, chapter in book "Dissipative solitons", ed. Akhmediev, to appea

Closed form solution for a double quantum well using Gr\"obner basis

Analytical expressions for spectrum, eigenfunctions and dipole matrix elements of a square double quantum well (DQW) are presented for a general case when the potential in different regions of the DQW has different heights and effective masses are different. This was achieved by Gr\"obner basis algorithm which allows to disentangle the resulting coupled polynomials without explicitly solving the transcendental eigenvalue equation.Comment: 4 figures, Mathematica full calculation noteboo

Matching in the method of controlled Lagrangians and IDA-passivity based control

This paper reviews the method of controlled Lagrangians and the interconnection and damping assignment passivity based control (IDA-PBC)method. Both methods have been presented recently in the literature as means to stabilize a desired equilibrium point of an Euler-Lagrange system, respectively Hamiltonian system, by searching for a stabilizing structure preserving feedback law. The conditions under which two Euler-Lagrange or Hamiltonian systems are equivalent under feedback are called the matching conditions (consisting of a set of nonlinear PDEs). Both methods are applied to the general class of underactuated mechanical systems and it is shown that the IDA-PBC method contains the controlled Lagrangians method as a special case by choosing an appropriate closed-loop interconnection structure. Moreover, explicit conditions are derived under which the closed-loop Hamiltonian system is integrable, leading to the introduction of gyroscopic terms. The $\lambda$-method as introduced in recent papers for the controlled Lagrangians method transforms the matching conditions into a set of linear PDEs. In this paper the method is extended, transforming the matching conditions obtained in the IDA-PBC method into a set of quasi-linear and linear PDEs.\u

Variational approach to relaxed topological optimization: closed form solutions for structural problems in a sequential pseudo-time framework

The work explores a specific scenario for structural computational optimization based on the following elements: (a) a relaxed optimization setting considering the ersatz (bi-material) approximation, (b) a treatment based on a non-smoothed characteristic function field as a topological design variable, (c) the consistent derivation of a relaxed topological derivative whose determination is simple, general and efficient, (d) formulation of the overall increasing cost function topological sensitivity as a suitable optimality criterion, and (e) consideration of a pseudo-time framework for the problem solution, ruled by the problem constraint evolution. In this setting, it is shown that the optimization problem can be analytically solved in a variational framework, leading to, nonlinear, closed-form algebraic solutions for the characteristic function, which are then solved, in every time-step, via fixed point methods based on a pseudo-energy cutting algorithm combined with the exact fulfillment of the constraint, at every iteration of the non-linear algorithm, via a bisection method. The issue of the ill-posedness (mesh dependency) of the topological solution, is then easily solved via a Laplacian smoothing of that pseudo-energy. In the aforementioned context, a number of (3D) topological structural optimization benchmarks are solved, and the solutions obtained with the explored closed-form solution method, are analyzed, and compared, with their solution through an alternative level set method. Although the obtained results, in terms of the cost function and topology designs, are very similar in both methods, the associated computational cost is about five times smaller in the closed-form solution method this possibly being one of its advantages. Some comments, about the possible application of the method to other topological optimization problems, as well as envisaged modifications of the explored method to improve its performance close the workPeer ReviewedPostprint (author's final draft

Computer Algebra Solving of Second Order ODEs Using Symmetry Methods

An update of the ODEtools Maple package, for the analytical solving of 1st and 2nd order ODEs using Lie group symmetry methods, is presented. The set of routines includes an ODE-solver and user-level commands realizing most of the relevant steps of the symmetry scheme. The package also includes commands for testing the returned results, and for classifying 1st and 2nd order ODEs.Comment: 24 pages, LaTeX, Soft-package (On-Line help) and sample MapleV sessions available at: http://dft.if.uerj.br/odetools.htm or http://lie.uwaterloo.ca/odetools.ht