M/C 107-81, Pasadena, CA 91125-8100, USA
Control and Dynamical Systems of Engineering and Applied Science California Institute of Technology
Vankerschaver J., Kanso E., Marsden J. E.
The dynamics of a rigid body in potential flow with circulation
2010, vol. 15, no. 4-5, pp. 606-629
We consider the motion of a two-dimensional body of arbitrary shape in a planar irrotational, incompressible fluid with a given amount of circulation around the body. We derive the equations of motion for this system by performing symplectic reduction with respect to the group of volume-preserving diffeomorphisms and obtain the relevant Poisson structures after a further Poisson reduction with respect to the group of translations and rotations. In this way, we recover the equations of motion given for this system by Chaplygin and Lamb, and we give a geometric interpretation for the Kutta–Zhukowski force as a curvature-related effect. In addition, we show that the motion of a rigid body with circulation can be understood as a geodesic flow on a central extension of the special Euclidian group $SE(2)$, and we relate the cocycle in the description of this central extension to a certain curvature tensor.
Dellnitz M., Grubits K., Marsden J. E., Padberg K., Thiere B.
Set oriented computation of transport rates in 3-degree of freedom systems: the Rydberg atom in crossed fields
2005, vol. 10, no. 2, pp. 173-192
We present a new method based on set oriented computations for the calculation of reaction rates in chemical systems. The method is demonstrated with the Rydberg atom, an example for which traditional Transition State Theory fails. Coupled with dynamical systems theory, the set oriented approach provides a global description of the dynamics. The main idea of the method is as follows. We construct a box covering of a Poincaré section under consideration, use the Poincaré first return time for the identification of those regions relevant for transport and then we apply an adaptation of recently developed techniques for the computation of transport rates (, ). The reaction rates in chemical systems are of great interest in chemistry, especially for realistic three and higher dimensional systems. Our approach is applied to the Rydberg atom in crossed electric and magnetic fields. Our methods are complementary to, but in common problems considered, agree with, the results of . For the Rydberg atom, we consider the half and full scattering problems in both the 2- and the 3-degree of freedom systems. The ionization of such atoms is a system on which many experiments have been done and it serves to illustrate the elegance of our method.
Jalnapurkar S. M., Marsden J. E.
Stabilization of relative equilibria II
1998, vol. 3, no. 3, pp. 161-179
In this paper, we obtain feedback laws to asymptotically stabilize relative equilibria of mechanical systems with symmetry. We use a notion of stability "modulo the group action" developed by Patrick . We deal with both internal instability and instability of the rigid motion. The methodology is that of potential shaping, but the system is allowed to be internally underactuated, i.e., have fewer internal actuators than the dimension of the shape space.