scholarly journals ON STABILIZATION OF UNSTABLE ROTATION IN THE RESISTING MEDIUM OF THE LAGRANGE GYROSCOPE USING THE SECOND GYROSCOPE AND ELASTIC HINGES

2021 ◽  
Vol 3 (2) ◽  
pp. 103-116
Author(s):  
Ya. Sviatenko ◽  
Keyword(s):  
Fixed Point ◽  
Angular Momentum ◽  
Angular Velocity ◽  
Elastic Recovery ◽  
Center Of Mass ◽  
Uniform Rotation ◽  
Resisting Medium ◽  
The Common ◽  
Elastic Coefficients ◽  
Kinetic Moment

The possibility of stabilizing an unstable uniform rotation in a resisting medium of a "sleeping" Lagrange gyroscope using a rotating second gyroscope and elastic spherical hinges is considered. The "sleeping" gyroscope rotates around a fixed point with an elastic recovery spherical hinge, and the second gyroscope is located above it. The gyroscopes are also connected by an elastic spherical restorative hinge and their rotation is supported by constant moments directed along their axes of rotation. It is shown that stabilization will be impossible in the absence of elasticity in the common joint and the coincidence of the center of mass of the second gyroscope with its center. With the help of the kinetic moment of the second gyroscope and the elasticity coefficients of the hinges, on the basis of an alternative approach, the stabilization conditions obtained in the form of a system of three inequalities and the conditions found on the elasticity coefficients at which the leading coefficients of these inequalities are positive. It is shown that stabilization will always be possible at a sufficiently large angular velocity of rotation of the second gyroscope under the assumption that the center of mass of the second gyroscope and the mechanical system are below the fixed point. The possibility of stabilizing the unstable uniform rotation of the "sleeping" Lagrange gyroscope using the second gyroscope and elastic spherical joints in the absence of dissipation is also considered. The "sleeping" gyroscope rotates at an angular velocity that does not meet the Mayevsky criterion. It is shown that stabilization will be impossible in the absence of elasticity in the common joint and the coincidence of the center of mass of the second gyroscope with its center. On the basis of the innovation approach, stabilization conditions were obtained in the form of a system of three irregularities using the kinetic moment of the second gyroscope and the elastic coefficients of the hinges. The condition for the angular momentum of the first gyroscope and the elastic coefficients at which the leading coefficients of these inequalities are positive are found. It is shown that if the condition for the angular momentum of the first gyroscope is fulfilled, stabilization will always be possible at a sufficiently large angular velocity of rotation of the second gyroscope, and in this case the center of mass of the second gyroscope can be located above the fixed point.

RUNNING PATTERN GENERATION OF HUMANOID BIPED WITH A FIXED POINT AND ITS REALIZATION

2009 ◽  
Vol 06 (04) ◽  
pp. 631-656 ◽  
Author(s):  
BAEK-KYU CHO ◽  
ILL-WOO PARK ◽  
JUN-HO OH
Keyword(s):  
Fixed Point ◽  
Angular Momentum ◽  
Sagittal Plane ◽  
Center Of Mass ◽  
Maximum Velocity ◽  
Frontal Plane ◽  
Numerical Approach ◽  
Pattern Generation ◽  
Upper Body ◽  
Running Pattern

This paper discusses the generation of a running pattern for a humanoid biped and verifies the validity of the proposed method of running pattern generation via experiments. Two running patterns are generated independently in the sagittal plane and in the frontal plane and the two patterns are then combined. When a running pattern is created with resolved momentum control in the sagittal plane, the angular momentum of the robot about the Center of Mass (COM) is set to zero, as the angular momentum causes the robot to rotate. However, this also induces unnatural motion of the upper body of the robot. To solve this problem, the biped was set as a virtual under-actuated robot with a free joint at its support ankle, and a fixed point for a virtual under-actuated system was determined. Following this, a periodic running pattern in the sagittal plane was formulated using the fixed point. The fixed point is easily determined in a numerical approach. In this way, a running pattern in the frontal plane was also generated. In an experiment, a humanoid biped known as KHR-2 ran forward using the proposed running pattern generation method. Its maximum velocity was 2.88 km/h.

A note on a source in a rotating liquid

1968 ◽  
Vol 64 (2) ◽  
pp. 507-511 ◽  
Author(s):  
K. Stewartson
Keyword(s):  
Fixed Point ◽  
Angular Velocity ◽  
Tube Axis ◽  
Flow Conditions ◽  
Uniform Rotation ◽  
Inviscid Incompressible Fluid ◽  
Rotating Liquid ◽  
Image Position ◽  
Infinite Tube ◽  
Upstream Flow

Consider an inviscid incompressible fluid confined within an infinite tube of radius b and assume that its motion initially consists of a uniform translation with velocity U and a uniform rotation, with angular velocity ω, about the tube axis. Suppose now that at time t = 0 a unit source of fluid situated at a point O of the axis begins to emit fluid at a uniform rate and that ultimately the flow pattern so modified becomes steady (at a fixed point as t → ∞). Under the further assumption that far upstream flow conditions are undisturbed by the source the stream function ψ of the disturbance satisfieswhere z denotes distance along the axis from O, r distance from the axis and k = 2ω/U.

RUNNING PATTERN GENERATION WITH A FIXED POINT IN A 2D PLANAR BIPED

2009 ◽  
Vol 06 (02) ◽  
pp. 241-264 ◽  
Author(s):  
BAEK-KYU CHO ◽  
JUN-HO OH
Keyword(s):  
Fixed Point ◽  
Angular Momentum ◽  
Center Of Mass ◽  
Maximum Velocity ◽  
Numerical Approach ◽  
Pattern Generation ◽  
Upper Body ◽  
Actual Environment ◽  
Virtual System ◽  
Running Pattern

This paper discusses the generation of a running pattern for a biped and verifies the validity of the proposed method of running pattern generation via experiments. When a running pattern is created with resolved momentum control, the angular momentum of the robot at the Center of Mass (COM) is set to zero, as the angular momentum causes the robot to rotate. However, this also induces unnatural motion of the upper body of the robot. To resolve this problem, the biped was set to a virtual under-actuated robot with a free joint at its support ankle, and a fixed point for a virtual system was determined. Following this, a new periodic running pattern was formulated using the fixed point. The fixed point is easily determined using a numerical approach. In an experiment, the planar biped ran forward using the proposed pattern generation method for running. Its maximum velocity was 2.88 km/h. In the future, faster running of the biped will be realized in a planar plane and the biped will run in an actual environment.

scholarly journals Dependence of the Lunisolar Perturbations in the Earth Rotation on the Adopted Earth Model

1981 ◽  
Vol 63 ◽  
pp. 154-169
Author(s):  
Nicole Capitaine
Keyword(s):  
Angular Momentum ◽  
Angular Velocity ◽  
Rotation Axis ◽  
Center Of Mass ◽  
Earth Model ◽  
Lunisolar Perturbations ◽  
The Earth ◽  
Relative Angular Momentum ◽  
Celestial Orientation ◽  
Fixed Axis

If no perturbation exists, the motion of the Earth around its center of mass would be a rigid rotation around a fixed axis in space with constant angular velocity.In fact, many perturbations disturb this ideal motion and produce variations in both the celestial orientation of the rotation axis and the Earth’s angular velocity.The mechanisms responsible for these perturbations are the changes in the total angular momentum due to external torques and also the changes in the inertia tensor of the Earth (due to deformations or motions of matter) or in the relative angular momentum in the terrestrial frame (due for instance to winds or to turbulent flow inside the core).

On the motion of bodies based on changes in the kinetic moment

2019 ◽  
Vol 20 (4) ◽  
pp. 267-275
Author(s):  
Yury N. Razoumny ◽  
Sergei A. Kupreev
Keyword(s):  
Center Of Mass ◽  
Stellar Dynamics ◽  
Elementary Particles ◽  
The Body ◽  
Accelerated Motion ◽  
Indirect Confirmation ◽  
Physical Principles ◽  
Two Bodies ◽  
Central Gravitational Field ◽  
Kinetic Moment

The controlled motion of a body in a central gravitational field without mass flow is considered. The possibility of moving the body in the radial direction from the center of attraction due to changes in the kinetic moment relative to the center of mass of the body is shown. A scheme for moving the body using a system of flywheels located in the same plane in near-circular orbits with different heights is proposed. The use of the spin of elementary particles is considered as flywheels. It is proved that using the spin of elementary particles with a Compton wavelength exceeding the distance to the attracting center is energetically more profitable than using the momentum of these particles to move the body. The calculation of motion using hypothetical particles (gravitons) is presented. A hypothesis has been put forward about the radiation of bodies during accelerated motion, which finds indirect confirmation in stellar dynamics and in an experiment with the fall of two bodies in a vacuum. The results can be used in experiments to search for elementary particles with low energy, explain cosmic phenomena and to develop transport objects on new physical principles.

Introductory Rotational Dynamics

2018 ◽  
Author(s):  
Peter Mann
Keyword(s):  
Angular Momentum ◽  
Angular Displacement ◽  
Rigid Bodies ◽  
Rotational Dynamics ◽  
Circular Motion ◽  
Uniform Rotation ◽  
Chemical Systems ◽  
Inertial Frames ◽  
Rotating Frames ◽  
Special Case

This chapter discusses the importance of circular motion and rotations, whose applications to chemical systems are plentiful. Circular motion is the book’s first example of a special case of motion using the laws developed in previous chapters. The chapter begins with the basic definitions of circular motion; as uniform rotation around a principle axis is much easier to consider, it is the focus of this chapter and is used to develop some key ideas. The chapter discusses angular displacement, angular velocity, angular momentum, torque, rigid bodies, orbital and spin momenta, inertia tensors and non-inertial frames and explores fictitious forces as well as transformations in rotating frames.

Coincidence and fixed points for hybrid tangential maps

2010 ◽  
Vol 17 (2) ◽  
pp. 273-285
Author(s):  
Tayyab Kamran ◽  
Quanita Kiran
Keyword(s):  
Fixed Point ◽  
Fixed Points ◽  
Common Property ◽  
Fixed Point Theorems ◽  
Acta Math ◽  
Contractive Condition ◽  
The Common

Abstract In [Int. J. Math. Math. Sci. 2005: 3045–3055] by Liu et al. the common property (E.A) for two pairs of hybrid maps is defined. Recently, O'Regan and Shahzad [Acta Math. Sin. (Engl. Ser.) 23: 1601–1610, 2007] have introduced a very general contractive condition and obtained some fixed point results for hybrid maps. We introduce a new property for pairs of hybrid maps that contains the property (E.A) and obtain some coincidence and fixed point theorems that extend/generalize some results from the above-mentioned papers.

scholarly journals Infrared effects in the late stages of black hole evaporation

2021 ◽  
Vol 2021 (7) ◽  
Author(s):  
Éanna É. Flanagan
Keyword(s):  
Black Hole ◽  
Angular Momentum ◽  
Center Of Mass ◽  
Planck Scale ◽  
Black Hole Mass ◽  
Order Unity ◽  
Intrinsic Angular Momentum ◽  
Hole Position ◽  
Late Stages ◽  
Shear Tensor

Abstract As a black hole evaporates, each outgoing Hawking quantum carries away some of the black holes asymptotic charges associated with the extended Bondi-Metzner-Sachs group. These include the Poincaré charges of energy, linear momentum, intrinsic angular momentum, and orbital angular momentum or center-of-mass charge, as well as extensions of these quantities associated with supertranslations and super-Lorentz transformations, namely supermomentum, superspin and super center-of-mass charges (also known as soft hair). Since each emitted quantum has fluctuations that are of order unity, fluctuations in the black hole’s charges grow over the course of the evaporation. We estimate the scale of these fluctuations using a simple model. The results are, in Planck units: (i) The black hole position has a uncertainty of $$ \sim {M}_i^2 $$ ∼ M i 2 at late times, where Mi is the initial mass (previously found by Page). (ii) The black hole mass M has an uncertainty of order the mass M itself at the epoch when M ∼ $$ {M}_i^{2/3} $$ M i 2 / 3 , well before the Planck scale is reached. Correspondingly, the time at which the evaporation ends has an uncertainty of order $$ \sim {M}_i^2 $$ ∼ M i 2 . (iii) The supermomentum and superspin charges are not independent but are determined from the Poincaré charges and the super center-of-mass charges. (iv) The supertranslation that characterizes the super center-of-mass charges has fluctuations at multipole orders l of order unity that are of order unity in Planck units. At large l, there is a power law spectrum of fluctuations that extends up to l ∼ $$ {M}_i^2/M $$ M i 2 / M , beyond which the fluctuations fall off exponentially, with corresponding total rms shear tensor fluctuations ∼ MiM−3/2.

scholarly journals Common fixed point theorem on Proinov type mappings via simulation function

2021 ◽  
Vol 2021 (1) ◽  
Author(s):  
Badr Alqahtani ◽  
Sara Salem Alzaid ◽  
Andreea Fulga ◽  
Seher Sultan Yeşilkaya
Keyword(s):  
Fixed Point ◽  
Fixed Point Theorem ◽  
Common Fixed Point ◽  
Point Theorem ◽  
Simulation Function ◽  
Type Mapping ◽  
The Common ◽  
Common Fixed Point Theorem

AbstractIn this paper, we aim to discuss the common fixed point of Proinov type mapping via simulation function. The presented results not only generalize, but also unify the corresponding results in this direction. We also consider an example to indicate the validity of the obtained results.

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