Ivan Bizyaev
Research assistant of the Laboratory of Nonlinear Analysis and the Design of New Types of Vehicles at UdSU

Born: May 15, 1990.
EducationIn 2013 graduated from the Udmurt State University.
Since 2013: Postgraduate student of the Departhment of Theoretical Physics at Udmurt State University.
Positions heldSince 2010: Research assistant of the Laboratory of Nonlinear Analysis and the Design of New Types of Vehicles at UdSU.
Publications:
Bizyaev I. A., Borisov A. V., Mamaev I. S.
Different Models of Rolling for a Robot Ball on a Plane as a Generalization of the Chaplygin Ball Problem
2019, vol. 24, no. 5, pp. 560582
Abstract
This paper addresses the problem of the rolling of a spherical shell with a frame
rotating inside, on which rotors are fastened. It is assumed that the center of mass of the entire
system is at the geometric center of the shell.
For the rubber rolling model and the classical rolling model it is shown that, if the angular velocities of rotation of the frame and the rotors are constant, then there exists a noninertial coordinate system (attached to the frame) in which the equations of motion do not depend explicitly on time. The resulting equations of motion preserve an analog of the angular momentum vector and are similar in form to the equations for the Chaplygin ball. Thus, the problem reduces to investigating a twodimensional Poincaré map. The case of the rubber rolling model is analyzed in detail. Numerical investigation of its Poincaré map shows the existence of chaotic trajectories, including those associated with a strange attractor. In addition, an analysis is made of the case of motion from rest, in which the problem reduces to investigating the vector field on the sphere $S^2$. 
Bizyaev I. A., Borisov A. V., Mamaev I. S.
Exotic Dynamics of Nonholonomic Roller Racer with Periodic Control
2018, vol. 23, no. 78, pp. 983994
Abstract
In this paper we consider the problem of the motion of the Roller Racer.We assume that the angle $\varphi (t)$ between the platforms is a prescribed function of time. We prove that in this case the acceleration of the Roller Racer is unbounded.
In this case, as the Roller Racer accelerates, the increase in the constraint reaction forces is also unbounded. Physically this means that, from a certain instant onward, the conditions of the rolling motion of the wheels without slipping are violated. Thus, we consider a model in which, in addition to the nonholonomic constraints, viscous friction force acts at the points of contact of the wheels. For this case we prove that there is no constant acceleration and all trajectories of the reduced system asymptotically tend to a periodic solution.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
An Invariant Measure and the Probability of a Fall in the Problem of an Inhomogeneous Disk Rolling on a Plane
2018, vol. 23, no. 6, pp. 665684
Abstract
This paper addresses the problem of an inhomogeneous disk rolling on a horizontal plane. This problem is considered within the framework of a nonholonomic model in which there is no slipping and no spinning at the point of contact (the projection of the angular velocity of the disk onto the normal to the plane is zero). The configuration space of the system of interest contains singular submanifolds which correspond to the fall of the disk and in which the equations of motion have a singularity. Using the theory of normal hyperbolic manifolds, it is proved that the measure of trajectories leading to the fall of the disk is zero.

Borisov A. V., Mamaev I. S., Bizyaev I. A.
Three Vortices in Spaces of Constant Curvature: Reduction, Poisson Geometry, and Stability
2018, vol. 23, no. 5, pp. 613636
Abstract
This paper is concerned with the problem of three vortices on a sphere $S^2$ and the
Lobachevsky plane $L^2$. After reduction, the problem reduces in both cases to investigating a
Hamiltonian system with a degenerate quadratic Poisson bracket, which makes it possible to
study it using the methods of Poisson geometry. This paper presents a topological classification
of types of symplectic leaves depending on the values of Casimir functions and system
parameters.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
The Chaplygin Sleigh with Parametric Excitation: Chaotic Dynamics and Nonholonomic Acceleration
2017, vol. 22, no. 8, pp. 955–975
Abstract
This paper is concerned with the Chaplygin sleigh with timevarying mass distribution (parametric excitation). The focus is on the case where excitation is induced by a material point that executes periodic oscillations in a direction transverse to the plane of the knife edge of the sleigh. In this case, the problem reduces to investigating a reduced system of two firstorder equations with periodic coefficients, which is similar to various nonlinear parametric oscillators. Depending on the parameters in the reduced system, one can observe different types of motion, including those accompanied by strange attractors leading to a chaotic (diffusion) trajectory of the sleigh on the plane. The problem of unbounded acceleration (an analog of Fermi acceleration) of the sleigh is examined in detail. It is shown that such an acceleration arises due to the position of the moving point relative to the line of action of the nonholonomic constraint and the center of mass of the platform. Various special cases of existence of tensor invariants are found.

Bizyaev I. A.
The Inertial Motion of a Roller Racer
2017, vol. 22, no. 3, pp. 239247
Abstract
This paper addresses the problem of the inertial motion of a roller racer, which reduces to investigating a dynamical system on a (twodimensional) torus and to classifying singular points on it. It is shown that the motion of the roller racer in absolute space is
asymptotic. A restriction on the system parameters in which this motion is bounded (compact) is presented.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
The Hess–Appelrot Case and Quantization of the Rotation Number
2017, vol. 22, no. 2, pp. 180196
Abstract
This paper is concerned with the Hess case in the Euler–Poisson equations and with its generalization on the pencil of Poisson brackets. It is shown that in this case the problem reduces to investigating the vector field on a torus and that the graph showing the dependence of the rotation number on parameters has horizontal segments (limit cycles) only for integer values of the rotation number. In addition, an example of a Hamiltonian system is given which possesses an invariant submanifold (similar to the Hess case), but on which the dependence of the rotation number on parameters is a Cantor ladder.

Bizyaev I. A., Borisov A. V., Kilin A. A., Mamaev I. S.
Integrability and Nonintegrability of SubRiemannian Geodesic Flows on Carnot Groups
2016, vol. 21, no. 6, pp. 759774
Abstract
This paper is concerned with two systems from subRiemannian geometry. One of them is defined by a Carnot group with three generatrices and growth vector $(3, 6, 14)$, the other is defined by two generatrices and growth vector $(2, 3, 5, 8)$. Using a Poincaré map, the nonintegrability of the above systems in the general case is shown. In addition, particular cases are presented in which there exist additional first integrals.

Borisov A. V., Mamaev I. S., Bizyaev I. A.
The Spatial Problem of 2 Bodies on a Sphere. Reduction and Stochasticity
2016, vol. 21, no. 5, pp. 556580
Abstract
In this paper, we consider in detail the 2body problem in spaces of constant positive curvature $S^2$ and $S^3$. We perform a reduction (analogous to that in rigid body dynamics) after which the problem reduces to analysis of a twodegreeoffreedom system. In the general case, in canonical variables the Hamiltonian does not correspond to any natural mechanical system. In addition, in the general case, the absence of an analytic additional integral follows from the constructed Poincaré section. We also give a review of the historical development of celestial mechanics in spaces of constant curvature and formulate open problems.

Borisov A. V., Mamaev I. S., Bizyaev I. A.
Historical and Critical Review of the Development of Nonholonomic Mechanics: the Classical Period
2016, vol. 21, no. 4, pp. 455476
Abstract
In this historical review we describe in detail the main stages of the development of nonholonomic mechanics starting from the work of Earnshaw and Ferrers to the monograph of Yu.I. Neimark and N.A. Fufaev. In the appendix to this review we discuss the d’Alembert–Lagrange principle in nonholonomic mechanics and permutation relations.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
The Dynamics of Vortex Sources in a Deformation Flow
2016, vol. 21, no. 3, pp. 367376
Abstract
This paper is concerned with the dynamics of vortex sources in a deformation flow. The case of two vortex sources is shown to be integrable by quadratures. In addition, the relative equilibria (of the reduced system) are examined in detail and it is shown that in this case the trajectory of vortex sources is an ellipse.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
Dynamics of the Chaplygin Sleigh on a Cylinder
2016, vol. 21, no. 1, pp. 136146
Abstract
This paper is concerned with the motion of the Chaplygin sleigh on the surface of a circular cylinder. In the case of inertial motion, the problem reduces to the study of the dynamical system on a (twodimensional) torus and to the classification of singular points. Particular cases in which the system admits an invariant measure are found.
In the case of a balanced and dynamically symmetric Chaplygin sleigh moving in a gravitational field it is shown that on the average the system has no drift along the vertical. 
Borisov A. V., Mamaev I. S., Kilin A. A., Bizyaev I. A.
Qualitative Analysis of the Dynamics of a Wheeled Vehicle
2015, vol. 20, no. 6, pp. 739751
Abstract
This paper is concerned with the problem of the motion of a wheeled vehicle on a plane in the case where one of the wheel pairs is fixed. In addition, the motion of a wheeled vehicle on a plane in the case of two free wheel pairs is considered. A method for obtaining equations of motion for the vehicle with an arbitrary geometry is presented. Possible kinds of motion of the vehicle with a fixed wheel pair are determined.

Bizyaev I. A., Borisov A. V., Kazakov A. O.
Dynamics of the Suslov Problem in a Gravitational Field: Reversal and Strange Attractors
2015, vol. 20, no. 5, pp. 605626
Abstract
In this paper, we present some results on chaotic dynamics in the Suslov problem which describe the motion of a heavy rigid body with a fixed point, subject to a nonholonomic constraint, which is expressed by the condition that the projection of angular velocity onto the bodyfixed axis is equal to zero. Depending on the system parameters, we find cases of regular (in particular, integrable) behavior and detect various attracting sets (including strange attractors) that are typical of dissipative systems. We construct a chart of regimes with regions characterizing chaotic and regular regimes depending on the degree of conservativeness. We examine in detail the effect of reversal, which was observed previously in the motion of rattlebacks.

Borisov A. V., Mamaev I. S., Bizyaev I. A.
The Jacobi Integral in Nonholonomic Mechanics
2015, vol. 20, no. 3, pp. 383400
Abstract
In this paper we discuss conditions for the existence of the Jacobi integral (that generalizes energy) in systems with inhomogeneous and nonholonomic constraints. As an example, we consider in detail the problem of motion of the Chaplygin sleigh on a rotating plane and the motion of a dynamically symmetric ball on a uniformly rotating surface. In addition, we discuss illustrative mechanical models based on the motion of a homogeneous ball on a rotating table and on the Beltrami surface.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
The Dynamics of Three Vortex Sources
2014, vol. 19, no. 6, pp. 694701
Abstract
In this paper, the integrability of the equations of a system of three vortex sources is shown. A reduced system describing, up to similarity, the evolution of the system’s configurations is obtained. Possible phase portraits and various relative equilibria of the system are presented.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
Superintegrable Generalizations of the Kepler and Hook Problems
2014, vol. 19, no. 3, pp. 415434
Abstract
In this paper we consider superintegrable systems which are an immediate generalization of the Kepler and Hook problems, both in twodimensional spaces — the plane $\mathbb{R}^2$ and the sphere $S^2$ — and in threedimensional spaces $\mathbb{R}^3$ and $S^3$. Using the central projection and the reduction procedure proposed in [21], we show an interrelation between the superintegrable systems found previously and show new ones. In all cases the superintegrals are presented in explicit form.

Bizyaev I. A., Borisov A. V., Mamaev I. S.
The Dynamics of Nonholonomic Systems Consisting of a Spherical Shell with a Moving Rigid Body Inside
2014, vol. 19, no. 2, pp. 198213
Abstract
In this paper we investigate two systems consisting of a spherical shell rolling without slipping on a plane and a moving rigid body fixed inside the shell by means of two different mechanisms. In the former case the rigid body is attached to the center of the ball on a spherical hinge. We show an isomorphism between the equations of motion for the inner body with those for the ball moving on a smooth plane. In the latter case the rigid body is fixed by means of a nonholonomic hinge. Equations of motion for this system have been obtained and new integrable cases found. A special feature of the set of tensor invariants of this system is that it leads to the Euler–Jacobi–Lie theorem, which is a new integration mechanism in nonholonomic mechanics. We also consider the problem of free motion of a bundle of two bodies connected by means of a nonholonomic hinge. For this system, integrable cases and various tensor invariants are found.

Borisov A. V., Mamaev I. S., Bizyaev I. A.
The Hierarchy of Dynamics of a Rigid Body Rolling without Slipping and Spinning on a Plane and a Sphere
2013, vol. 18, no. 3, pp. 277328
Abstract
In this paper, we investigate the dynamics of systems describing the rolling without slipping and spinning (rubber rolling) of various rigid bodies on a plane and a sphere. It is shown that a hierarchy of possible types of dynamical behavior arises depending on the body’s surface geometry and mass distribution. New integrable cases and cases of existence of an invariant measure are found. In addition, these systems are used to illustrate that the existence of several nontrivial involutions in reversible dissipative systems leads to quasiHamiltonian behavior.
