arXiv subjects

Anthony M. Bloch

Publications and source records attributed to Anthony M. Bloch.

At least 55 records · Page 3Linked to original sources

arXiv2009

Nonholonomic Hamilton-Jacobi equation and Integrability

We discuss an extension of the Hamilton-Jacobi theory to nonholonomic mechanics with a particular interest in its application to exactly integrating the equations of motion. We give an intrinsic proof of a nonholonomic analogue of the Hamilton--Jacobi theorem. Our intrinsic proof clarifies the difference from the conventional Hamilton-Jacobi theory for unconstrained systems. The proof also helps us identify a geometric meaning of the conditions on the solutions of the Hamilton-Jacobi equation that arise from nonholonomic constraints. The major advantage of our result is that it provides us with a method of integrating the equations of motion just as the unconstrained Hamilton--Jacobi theory does. In particular, we build on the work by Iglesias-Ponte, de Leon, and Martin de Diego so that the conventional method of separation of variables applies to some nonholonomic mechanical systems. We also show a way to apply our result to systems to which separation of variables does not apply.

math-ph↗

arXiv2009

General Analysis of Type I Planetary Migration with Stochastic Perturbations

This paper presents a generalized treatment of Type I planetary migration in the presence of stochastic perturbations. In many planet-forming disks, the Type I migration mechanism, driven by asymmetric torques, acts on a short time scale and compromises planet formation. If the disk also supports MHD instabilities, however, the corresponding turbulent fluctuations produce additional stochastic torques that modify the steady inward migration scenario. This work studies the migration of planetary cores in the presence of stochastic fluctuations using complementary methods, including a Fokker-Planck approach and iterative maps. Stochastic torques have two main effects: [1] Through outward diffusion, a small fraction of the planetary cores can survive in the face of Type I inward migration. [2] For a given starting condition, the result of any particular realization of migration is uncertain, so that results must be described in terms of the distributions of outcomes. In addition to exploring different regimes of parameter space, this paper considers the effects of the outer disk boundary condition, varying initial conditions, and time-dependence of the torque parameters. For disks with finite radii, the fraction of surviving planets decreases exponentially with time. We find the survival fractions and decay rates for a range of disk models, and find the expected distribution of locations for surviving planets. For expected disk properties, the survival fraction lies in the range $0.01 < p_S < 0.1$.

astro-ph.EP↗

arXiv2009

The rolling sphere and the quantum spin

We consider the problem of a sphere rolling of a curved surface and solve it by mapping it to the precession of a spin 1/2 in a magnetic field of variable magnitude and direction. The mapping can be of pedagogical use in discussing both rolling and spin precession, and in particular in understanding the emergence of geometrical phases in classical problems.

physics.class-ph↗

arXiv2009

Hill's Equation with Random Forcing Parameters: The Limit of Delta Function Barriers

This paper considers random Hill's equations in the limit where the periodic forcing function becomes a Dirac delta function. For this class of equations, the forcing strength $q_k$, the oscillation frequency $\af_k$, and the period are allowed to vary from cycle to cycle. Such equations arise in astrophysical orbital problems in extended mass distributions, in the reheating problem for inflationary cosmologies, and in periodic Schr{ö}dinger equations. The growth rates for solutions to the periodic differential equation can be described by a matrix transformation, where the matrix elements vary from cycle to cycle. Working in the delta function limit, this paper addresses several coupled issues: We find the growth rates for the $2 \times 2$ matrices that describe the solutions. This analysis is carried out in the limiting regimes of both large $q_k \gg 1$ and small $q_k \ll 1$ forcing strength parameters. For the latter case, we present an alternate treatment of the dynamics in terms of a Fokker-Planck equation, which allows for a comparison of the two approaches. Finally, we elucidate the relationship between the fundamental parameters $(\af_k,q_k)$ appearing in the stochastic differential equation and the matrix elements that specify the corresponding discrete map. This work provides analytic -- and accurate -- expressions for the growth rates of these stochastic differential equations in both the $q_k \gg1 $ and the $q_k \ll 1$ limits.

math-ph↗

arXiv2008

Mean Motion Resonances in Extrasolar Planetary Systems with Turbulence, Interactions, and Damping

This paper continues previous work on the effects of turbulence on mean motion resonances in extrasolar planetary systems. Turbulence is expected to arise in the disks that form planets, and these fluctuations act to compromise resonant configurations. This paper extends previous work by considering how interactions between the planets and possible damping effects imposed by the disk affect the outcomes. These physical processes are studied using three approaches: numerical integrations of the 3-body problem with additional forcing due to turbulence, model equations that reduce the problem to stochastically driven oscillators, and Fokker-Planck equations that describe the time evolution of an ensemble of systems. With this combined approach, we elucidate the physics of how turbulence can remove extrasolar planetary systems from mean motion resonance. As expected, systems with sufficiently large damping (dissipation) can maintain resonance, in spite of turbulent forcing. In the absence of strong damping, ensembles of these systems exhibit two regimes of behavior, where the fraction of the bound states decreases as a power-law or as an exponential. Both types of behavior can be understood through the model developed herein. For systems with weak interactions between planets, the model reduces to a stochastic pendulum, and the fraction of bound states decreases as a power-law. For highly interactive systems, the dynamics are more complicated and the fraction of bound states decreases exponentially. We show how planetary interactions lead to drift terms in the Fokker-Planck equation and account for this exponential behavior. In addition to clarifying the physical processes involved, this paper strengthens the finding that turbulence implies that mean motions resonances should be rare.

astro-ph↗

arXiv2008

Turbulence in Extrasolar Planetary Systems Implies that Mean Motion Resonances are Rare

This paper considers the effects of turbulence on mean motion resonances in extrasolar planetary systems and predicts that systems rarely survive in a resonant configuration. A growing number of systems are reported to be in resonance, which is thought to arise from the planet migration process. If planets are brought together and moved inward through torques produced by circumstellar disks, then disk turbulence can act to prevent planets from staying in a resonant configuration. This paper studies this process through numerical simulations and via analytic model equations, where both approaches include stochastic forcing terms due to turbulence. We explore how the amplitude and forcing time intervals of the turbulence affect the maintenance of mean motion resonances. If turbulence is common in circumstellar disks during the epoch of planet migration, with the amplitudes indicated by current MHD simulations, then planetary systems that remain deep in mean motion resonance are predicted to be rare. More specifically, the fraction of resonant systems that survive over a typical disk lifetime of 1 Myr is of order 0.01. If mean motion resonances are found to be common, their existence would place tight constraints on the amplitude and duty cycle of turbulent fluctuations in circumstellar disks. These results can be combined by expressing the expected fraction of surviving resonant systems in the approximate form P_b = C / N_{orb}^{1/2}, where the dimensionless parameter C = 10 - 50 and where N_{orb} is the number of orbits for which turbulence is active.

astro-ph↗

arXiv2007

Geometric structure-preserving optimal control of the rigid body

In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition. Instead of discretizing the equations of motion, we use the discrete equations obtained from the discrete Lagrange--d'Alembert principle, a process that better approximates the equations of motion. Within the discrete-time setting, these two approaches are not equivalent in general. The kinematics are discretized using a natural Lie-algebraic formulation that guarantees that the flow remains on the Lie group SO(3) and its algebra so(3). We use Lagrange's method for constrained problems in the calculus of variations to derive the discrete-time necessary conditions. We give a numerical example for a three-dimensional rigid body maneuver.

math.OC↗

arXiv2007

The Eccentric Frame Decomposition of Central Force Fields

The rosette-shaped motion of a particle in a central force field is known to be classically solvable by quadratures. We present a new approach of describing and characterizing such motion based on the eccentricity vector of the two body problem. In general, this vector is not an integral of motion. However, the orbital motion, when viewed from the nonuniformly rotating frame defined by the orientation of the eccentricity vector, can be solved analytically and will either be a closed periodic circulation or libration. The motion with respect to inertial space is then given by integrating the argument of periapsis with respect to time. Finally we will apply the decomposition to a modern central potential, the spherical Hernquist-Newton potential, which models dark matter halos of galaxies with central black holes.

astro-ph↗

arXiv2007

Dynamics of Symplectic SubVolumes

In this paper we will explore fundamental constraints on the evolution of certain symplectic subvolumes possessed by any Hamiltonian phase space. This research has direct application to optimal control and control of conservative mechanical systems. We relate geometric invariants of symplectic topology to computations that can easily be carried out with the state transition matrix of the flow map. We will show how certain symplectic subvolumes have a minimal obtainable volume; further if the subvolume dimension equals the phase space dimension, this constraint reduces to Liouville's Theorem. Finally we present a preferred basis that, for a given canonical transformation, has certain minimality properties with regards to the local volume expansion of phase space.

math.OC↗

arXiv2007

Orbital Instabilities in a Triaxial Cusp Potential

This paper constructs an analytic form for a triaxial potential that describes the dynamics of a wide variety of astrophysical systems, including the inner portions of dark matter halos, the central regions of galactic bulges, and young embedded star clusters. Specifically, this potential results from a density profile of the form $ρ(m) \propto m^{-1}$, where the radial coordinate is generalized to triaxial form so that $m^2 = x^2/a^2 + y^2/b^2 + z^2/c^2 $. Using the resulting analytic form of the potential, and the corresponding force laws, we construct orbit solutions and show that a robust orbit instability exists in these systems. For orbits initially confined to any of the three principal planes, the motion in the perpendicular direction can be unstable. We discuss the range of parameter space for which these orbits are unstable, find the growth rates and saturation levels of the instability, and develop a set of analytic model equations that elucidate the essential physics of the instability mechanism. This orbit instability has a large number of astrophysical implications and applications, including understanding the formation of dark matter halos, the structure of galactic bulges, the survival of tidal streams, and the early evolution of embedded star clusters.

astro-ph↗

arXiv2007

The Boltzmann-Hamel Equations for Optimal Control

We extend the Boltzmann-Hamel equations to the optimal control setting, producing a set of equations for both kinematic and dynamic nonholonomic optimal control problems. In particular, we will show the dynamic optimal control problem can be written as a minimal set of 4n-2m first order differential equations of motion.

math.OC↗

arXiv2007

Controlled Lagrangians and Stabilization of Discrete Mechanical Systems I

Controlled Lagrangian and matching techniques are developed for the stabilization of relative equilibria and equilibria of discrete mechanical systems with symmetry as well as broken symmetry. Interesting new phenomena arise in the controlled Lagrangian approach in the discrete context that are not present in the continuous theory. In particular, to make the discrete theory effective, one can make an appropriate selection of momentum levels or, alternatively, introduce a new parameter into the controlled Lagrangian to complete the kinetic matching procedure. Specifically, new terms in the controlled shape equation that are necessary for potential matching in the discrete setting are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline. The paper also discusses digital and model predictive controllers.

math.OC↗

arXiv2006

Controlled Lagrangians and Potential Shaping for Stabilization of Discrete Mechanical Systems

The method of controlled Lagrangians for discrete mechanical systems is extended to include potential shaping in order to achieve complete state-space asymptotic stabilization. New terms in the controlled shape equation that are necessary for matching in the discrete context are introduced. The theory is illustrated with the problem of stabilization of the cart-pendulum system on an incline. We also discuss digital and model predictive control.

math.OC↗

arXiv2006

A Discrete Variational Integrator for Optimal Control Problems on SO(3)

math.OC↗

arXiv2006

Baryonic Collapse within Dark Matter Halos and the Formation of Gaseous Galactic Disks

This paper constructs an analytic framework for calculating the assembly of galactic disks from the collapse of gas within dark matter halos, with the goal of determining the surface density profiles. Gas parcels (baryons) fall through the potentials of dark matter halos on nearly ballistic, zero energy orbits and collect in a rotating disk. The dark matter halos have a nearly universal form, as determined previously through numerical simulations. The calculation is first carried out for a variety of pre-collapse mass distributions and rotation profiles, including polytropic spheres in hydrostatic equilibrium with the halo potential. The resulting disk surface density profiles have nearly power-law forms, with well-defined edges. This idealized scenario is generalized to include non-spherical starting states and multiple accretion events (due to gas being added to the halo via merger events). This latter complication is explored in detail and considers a log-normal distribution for the angular momenta of the pre-collapse states. If this distribution is wide, then the composite surface density approaches a universal power-law form, independent of the shape of the constituent profiles. When the angular momentum distribution has an intermediate width, the composite surface density attains a nearly exponential form, roughly consistent with profiles of observed galaxies.

astro-ph↗

arXiv2006

A variational problem on Stiefel manifolds

In their paper on discrete analogues of some classical systems such as the rigid body and the geodesic flow on an ellipsoid, Moser and Veselov introduced their analysis in the general context of flows on Stiefel manifolds. We consider here a general class of continuous time, quadratic cost, optimal control problems on Stiefel manifolds, which in the extreme dimensions again yield these classical physical geodesic flows. We have already shown that this optimal control setting gives a new symmetric representation of the rigid body flow and in this paper we extend this representation to the geodesic flow on the ellipsoid and the more general Stiefel manifold case. The metric we choose on the Stiefel manifolds is the same as that used in the symmetric representation of the rigid body flow and that used by Moser and Veselov. In the extreme cases of the ellipsoid and the rigid body, the geodesic flows are known to be integrable. We obtain the extremal flows using both variational and optimal control approaches and elucidate the structure of the flows on general Stiefel manifolds.

math.OC↗

arXiv2006

A Class of Integrable Geodesic Flows on the Symplectic Group and the Symmetric Matrices

This paper shows that the left-invariant geodesic flow on the symplectic group relative to the Frobenius metric is an integrable system that is not contained in the Mishchenko-Fomenko class of rigid body metrics. This system may be expressed as a flow on symmetric matrices and is bi-Hamiltonian. This analysis is extended to cover flows on symmetric matrices when an isomorphism with the symplectic Lie algebra does not hold. The two Poisson structures associated with this system, including an analysis of its Casimirs, are completely analyzed. Since the system integrals are not generated by its Casimirs it is shown that the nature of integrability is fundamentally different from that exhibited in the Mischenko-Fomenko setting.

math-ph↗

arXiv2005

Optimal Control of Underactuated Nonholonomic Mechanical Systems

In this paper we use an affine connection formulation to study an optimal control problem for a class of nonholonomic, under-actuated mechanical systems. In particular, we aim at minimizing the norm-squared of the control input to move the system from an initial to a terminal state. We consider systems evolving on general manifolds. The class of nonholonomic systems we study in this paper includes, in particular, wheeled-type vehicles, which are important for many robotic locomotion systems. The two special aspects of this optimal control problem are the nonholonomic constraints and under-actuation. Nonholonomic constraints restrict the evolution of the system to a distribution on the manifold. The nonholonomic connection is used to express the constrained equations of motion. Furthermore, it is used to take variations of the cost functional. Many robotic systems are under-actuated since control inputs are usually applied through the robot's internal configuration space only. While we do not consider symmetries with respect to group actions in this paper, the fact that the system is under-actuated is taken into account in our problem formulation. This allows one to compute reaction forces due to any inputs applied in directions orthogonal to the constraint distribution. We illustrate our ideas by considering a simple example on a three-dimensional manifold.

math.OC↗