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Experimental verification of criteria for escape
from a potential well in a multi-degree of
freedom system
Shane Ross
Biomedical Engineering and Mechanics, Virginia Tech
shaneross.com
with Amir BozorgMagham (Univ. of Maryland) and Lawrie Virgin (Duke Univ.)
SIAM Conference on Applications of Dynamical Systems (Snowbird, May 17, 2015)
Intermittency and chaotic transitions
e.g., transitioning across “bottlenecks” in phase space
Marchal [1990]
ii
Multi-well multi-degree of freedom systems
• Examples: chemistry, vehicle dynamics, structural mechanics
x
y
snap
load, P
x ~ sag
y ~ angle
(a) (b)
Sag, X
Angle,Y
X
Yincreasing
load
α β φ
λ
λV(x,y)
iii
Transitions through bottlenecks via tubes
Topper [1997]
•Wells connected by phase space transition tubes ' S1×R for 2 DOF— Conley, McGehee, 1960s— Llibre, Mart́ınez, Simó, Pollack, Child, 1980s— De Leon, Mehta, Topper, Jaffé, Farrelly, Uzer, MacKay, 1990s— Gómez, Koon, Lo, Marsden, Masdemont, Ross, Yanao, 2000s
iv
Is this geometric theory correct?• Good agreement with direct numerical simulation — molecular re-
actions, ‘reaction island theory’ e.g., De Leon [1992]
Dow
nloaded 16 Sep 2003 to 131.215.42.220. Redistribution subject to A
IP license or copyright, see http://ojps.aip.org/jcpo/jcpcr.jsp
— celestial mechanics, asteroid escape rates e.g., Jaffé, Ross, Lo, Marsden, Farrelly, Uzer [2002]
0 10 20 30 40
Number of Periods
1
0.9
0.8
0.6
Su
rvival
Pro
ba
bility
0.7
0.5
v
Is this geometric theory correct?
• but experimental verification has been lacking
•Our goal: We seek to perform experimental verification using a tabletop experiment with 2 degrees of freedom (DOF)
• If successful, apply theory to ≥2 DOF systems, combine with control:• structural mechanics
— re-configurable deformation of flexible objects— adaptive structures that can bend, fold, and twist to provide advancedengineering opportunities for deployable structures, mechanical sensors
• vehicle stability— capsize problem, etc.
vi
Motion near saddles
� Near rank 1 saddles in N DOF, linearized vector fieldeigenvalues are
±λ and ±iωj, j = 2, . . . , N� Equilibrium point is of type
saddle× center× · · · × center (N − 1 centers).
2q
2p N
p
qN
x xx
1p
q1
the saddle-space projection and N − 1 center projections — the N canonical planes
vii
Motion near saddles
� For excess energy ∆E > 0 above the saddle, there’s anormally hyperbolic invariant manifold (NHIM) of boundorbits
M∆E =
N∑i=2
ωi2
(p2i + q
2i
)= ∆E
� So, M∆E ' S2N−3, topologically, a (2N − 3)-sphere�N = 2,
M∆E ={ω2
(p22 + q
22
)= ∆E
}M∆E ' S1, a periodic orbit of period Tpo = 2πω
viii
Motion near saddles: 2 DOF
� Cylindrical tubes of orbits asymptotic to M∆E: stable andunstable invariant manifolds, W s±(M∆E),W u±(M∆E),' S1×R
� Enclose transitioning trajectories
ix
Motion near saddles: 2 DOF
•B : bounded orbits (periodic): S1
•A : asymptotic orbits to 1-sphere: S1 × R (tubes)•T : transitioning and NT : non-transitioning orbits.
p1
q1
NTNT
T
T
A
A
A
A
B
x
Tube dynamics
Poincare Section Ui
De Leon [1992]
�Tube dynamics: All transitioning motion between wellsconnected by bottlenecks must occur through tube• Imminent transition regions, transitioning fractions• Consider k Poincaré sections Ui, various excess energies ∆E
xi
Verification by simulation
� Structured transition statistics in chemistry, etc 3+ DOF
1 2 3 4 5 6 7 8 9 100
2
4
6
8
10
12
14
16
18
20
Loops Around the Nuclear Core
Ele
ctr
on S
cattering P
robabili
ty (
%)
ε = 0.58
0
1.0
2.0
3.0
4.0
5.0
6.0
0 10 20 30 40 50 60 70 80 90 100
ε = 0.58
Time
selcitraP de ret tac S fo rebmu
N
1 2 3 4 5 6 70
10
20
30
40
50
60
70
80
Loops Around the Nuclear Core
Ele
ctr
on S
cattering P
robabili
ty (
%)
ε = 0.6
0
5
10
15
20
25
30
0 10 20 30 40 50 60 70 80 90 100
ε = 0.6
Time
selcitraP dere ttacS fo rebmu
N
Gabern, Koon, Marsden, Ross [2005]
xii
Verification by experiment
• Simple table top experiments; e.g., ball rolling on a 3D-printed surface
Virgin, Lyman, Davis [2010] Am. J. Phys.
xiii
Ball rolling on a surface — 2 DOF
• The potential energy is V (x, y) = gH(x, y)− V0,where the surface is arbitrary, e.g., we chose
H(x, y) = α(x2 + y2)− β(√x2 + γ +
√y2 + γ)− ξxy + H0.
−15 −10 −5 0 5 10 15
−15
−10
−5
0
5
10
15
3 4 5 6 7 8 9 10 11 12
xiv
Ball rolling on a surface — 2 DOF
• The potential energy is V (x, y) = gH(x, y)− V0,where the surface is arbitrary, e.g., we chose
H(x, y) = α(x2 + y2)− β(√x2 + γ +
√y2 + γ)− ξxy + H0.
typical experimental trialxv
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
xvi
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
12
34
xvii
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
12
34
xviii
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
12
34
xix
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
xx
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
transion tube from quadrant 1 to 2
xxi
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
transion tube from quadrant 1 to 2
xxii
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
5 10−50
−40
−30
−20
−10
0
10
20
30
40
50
(cm)
(cm/s)
transion tube from quadrant 1 to 2
xxiii
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
5 10−50
−40
−30
−20
−10
0
10
20
30
40
50
(cm)
(cm/s)
transion tube from quadrant 1 to 2
xxiv
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
5 10−50
−40
−30
−20
−10
0
10
20
30
40
50
(cm)
(cm/s)
transion tube from quadrant 1 to 2
xxv
Transition tubes in the rolling ball system
−10 −5 0 5 10
−10
−5
0
5
10
5 10−50
−40
−30
−20
−10
0
10
20
30
40
50
(cm)
(cm/s)
transion tube from quadrant 1 to 2
xxvi
Analysis of experimental data
12-600
-400
-200
0
200
400
600
800
1000
1200
1400
108640 2
time
• 120 experimental trials of about 10 seconds each, recorded at 50 Hz
xxvii
Analysis of experimental data
12-600
-400
-200
0
200
400
600
800
1000
1200
1400
108640 2
time
• 120 experimental trials of about 10 seconds each, recorded at 50 Hz• 3500 intersections of Poincaré sections, sorted by energy
xxviii
Analysis of experimental data
12-600
-400
-200
0
200
400
600
800
1000
1200
1400
108640 2
time
• 120 experimental trials of about 10 seconds each, recorded at 50 Hz• 3500 intersections of Poincaré sections, sorted by energy• 400 transitions detected
xxix
Analysis of experimental data
12-600
-400
-200
0
200
400
600
800
1000
1200
1400
108640 2
time
• 120 experimental trials of about 10 seconds each, recorded at 50 Hz• 3500 intersections of Poincaré sections, sorted by energy• 400 transitions detected
xxx
Poincaré sections at various energy ranges
xxxi
Experimental confirmation of transition tubes
• Theory predicts > 95% of transitions• Consider overall trend in transition fraction as excess energy grows
-300 -200 -100 0 100 200 300 400 500
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Experiment
Tra
ns
itio
n f
rac
tio
n
xxxii
Theory for small excess energy, ∆E
• Area of the transitioning region, the tube cross-section (MacKay [1990])Atrans = Tpo∆E
where Tpo = 2π/ω period of unstable periodic orbit in bottleneck
• Area of energy surfaceA∆E = A0 + τ∆E
where
A0 = 2
∫ rmaxrmin
√−145 gH(r)(1 +
∂H∂r
2(r))dr
and
τ =
∫ rmaxrmin
√√√√145 (1 + ∂H∂r 2(r))−gH(r)
dr
xxxiii
Theory for small excess energy, ∆E
• The transitioning fraction, under well-mixed assumption,
ptrans =AtransA∆E
=TpoA0
∆E(
1− τA0∆E +O(∆E2))
• For small ∆E, growth in ptrans with ∆E is linear, with slope∂ptrans∂∆E
=TpoA0
• For slightly larger values of ∆E, there will be a correction term leadingto a decreasing slope,
∂ptrans∂∆E
=TpoA0
(1− 2 τA0∆E
)
xxxiv
Theory for small excess energy, ∆E
-300 -200 -100 0 100 200 300 400 500
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Experiment
Tra
ns
itio
n f
rac
tio
n
xxxv
Theory for small excess energy, ∆E
-300 -200 -100 0 100 200 300 400 500
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Experiment
Tra
ns
itio
n f
rac
tio
n
Theoretical
slope
xxxvi
Theory for small excess energy, ∆E
-300 -200 -100 0 100 200 300 400 500
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
Experiment
Tra
ns
itio
n f
rac
tio
n
Theoretical
slope
Slopes agree
within 5%
xxxvii
Next steps — structural mechanics
Buckling, bending, twisting, and crumpling of flexible bodies
xxxviii
Next steps — structural mechanics
X (mode 1)
Y (mode 2)
−0.03 −0.02 −0.01 0 0.01 0.02 0.03
−0.01
0
0.01
−0.03
−0.02
−0.01
0
0.01
0.02
0.03
X
snap-through
non-snap-through
X
Y
Y.
snap-through
load
x
Y
xxxix
Final words
• 2 DOF experiment for understanding geometry of transitions — verifiedgeometric theory of tube dynamics
• Unobserved unstable periodic orbits have observable consequences
• Future work: control of transitions in multi-DOF systemse.g., triggering and avoidance of buckling in flexible structures, capsizeavoidance for ships in rough seas and floating structures
• For more, see Lawrie Virgin’s talk tomorrow, 3:45pm, in‘CP25 Topics in Classical and Fluid Dynamical Systems’
• also Isaac Yeaton’s talk tomorrow, 4:45pm (CP25)Snakes on An Invariant Plane: Dynamics of Flying Snakes
Paper in preparation; check status at:shaneross.com
xl
Intermittency and chaotic transitionsMulti-well multi-degree of freedom systemsTransitions through bottlenecks via tubesIs this geometric theory correct?Is this geometric theory correct?Motion near saddlesMotion near saddlesMotion near saddles: 2 DOFMotion near saddles: 2 DOFTube dynamicsVerification by simulationVerification by experimentBall rolling on a surface — 2 DOFBall rolling on a surface — 2 DOFTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemTransition tubes in the rolling ball systemAnalysis of experimental dataAnalysis of experimental dataAnalysis of experimental dataAnalysis of experimental dataPoincaré sections at various energy rangesExperimental confirmation of transition tubesTheory for small excess energy, ETheory for small excess energy, ETheory for small excess energy, ETheory for small excess energy, ETheory for small excess energy, ENext steps — structural mechanicsNext steps — structural mechanicsFinal words