ul. Universitetskaya 1, Izhevsk, 426034 Russia
Udmurt State University
Artemova E. M., Karavaev Y. L., Mamaev I. S., Vetchanin E. V.
Dynamics of a Spherical Robot with Variable Moments of Inertia and a Displaced Center of Mass
2020, vol. 25, no. 6, pp. 689-706
The motion of a spherical robot with periodically changing moments of inertia, internal rotors and a displaced center of mass is considered. It is shown that, under some restrictions on the displacement of the center of mass, the system of interest features chaotic dynamics due to separatrix splitting. A stability analysis is made of the upper equilibrium point of the ball and of the periodic solution arising in its neighborhood, in the case of periodic rotation of the rotors. It is shown that the lower equilibrium point can become unstable in the case of fixed rotors and periodically changing moments of inertia.
Kilin A. A., Artemova E. M.
Integrability and Chaos in Vortex Lattice Dynamics
2019, vol. 24, no. 1, pp. 101-113
This paper is concerned with the problem of the interaction of vortex lattices, which is equivalent to the problem of the motion of point vortices on a torus. It is shown that the dynamics of a system of two vortices does not depend qualitatively on their strengths. Steadystate configurations are found and their stability is investigated. For two vortex lattices it is also shown that, in absolute space, vortices move along closed trajectories except for the case of a vortex pair. The problems of the motion of three and four vortex lattices with nonzero total strength are considered. For three vortices, a reduction to the level set of first integrals is performed. The nonintegrability of this problem is numerically shown. It is demonstrated that the equations of motion of four vortices on a torus admit an invariant manifold which corresponds to centrally symmetric vortex configurations. Equations of motion of four vortices on this invariant manifold and on a fixed level set of first integrals are obtained and their nonintegrability is numerically proved.