Euler-Lagrange Research Articles

On fluid-saturated poro-hyperelastic rotating cylinder: A centrifugal filtration

One of the applications of porous materials is centrifugal filtration. This study develops the Lagrangian equations that govern a steady-state, fluid-saturated, poro-hyperelastic, axisymmetric rotating cylinder. The formulation assumes incompressible solid and Newtonian fluid constituents to address the filtration process. The differential scheme takes into account the impact of porosity on the reduction of the drained shear and bulk moduli of the solid skeleton. Additionally, the normalized Kozeny-Carman formula considers the effect of porosity changes due to deformation on permeability. The Standard Galerkin Finite Element Method solves the derived equations using FlexPDE. ANSYS is unable to solve the current problem due to the lack of centrifugal and Coriolis accelerations in Darcy's law and its inability to account for changes in initial permeability and porosity resulting from the deformation of the solid skeleton. Therefore, the validation of the governing equations and the applied solution is investigated in three limited cases.It is shown that a rise in the angular velocity causes the expansion in the Von-Mises stress of solid constituent, radial displacement, negative pore pressure, and radial filtration velocity because of the increase in the centrifugal force. Also, the permeability and radial displacement grow with the initial porosity rise. The radial filtration velocity rises with the increased permeability resulting from the deformation. Moreover, drained shear and bulk moduli of the solid skeleton fall with increased porosity, resulting in a rise in the radial displacement. Besides, the radial displacement and filtration velocity expand with the increase of solid and fluid densities.

Preserving Lagrangian structure in data-driven reduced-order modeling of large-scale dynamical systems

This work presents a nonintrusive physics-preserving method to learn reduced-order models (ROMs) of Lagrangian systems, which includes nonlinear wave equations. Existing intrusive projection-based model reduction approaches construct structure-preserving Lagrangian ROMs by projecting the Euler–Lagrange equations of the full-order model (FOM) onto a linear subspace. This Galerkin projection step requires complete knowledge about the Lagrangian operators in the FOM and full access to manipulate the computer code. In contrast, the proposed Lagrangian operator inference approach embeds the mechanics into the operator inference framework to develop a data-driven model reduction method that preserves the underlying Lagrangian structure. The proposed approach exploits knowledge of the governing equations (but not their discretization) to define the form and parametrization of a Lagrangian ROM which can then be learned from projected snapshot data. The method does not require access to FOM operators or computer code. The numerical results demonstrate Lagrangian operator inference on an Euler–Bernoulli beam model, the sine-Gordon (nonlinear) wave equation, and a large-scale discretization of a soft robot fishtail with 779,232 degrees of freedom. The learned Lagrangian ROMs generalize well, as they can accurately predict the physical solutions both far outside the training time interval, as well as for unseen initial conditions.

First-order quantum correction of thermodynamics in a charged accelerating AdS black hole with gauge potential

In this paper, we study the tunneling radiation from a charged-accelerating AdS black hole with gauge potential under the impact of quantum gravity. Using the semi-classical phenomenon known as the Hamilton–Jacobi ansatz, it is studied that tunneling radiation occurs via the horizon of a black hole and also employs the Lagrangian equation using the generalized uncertainty principle. Furthermore, we investigate the impact of charge, gauge potential, and first order correction parameters on the temperature as well as the stable and unstable states of the black hole. We also compute thermodynamic properties such as entropy, internal energy, Helmholtz free energy, enthalpy, specific heat, and Gibbs free energy under the impact of the correction parameter for the black hole. We calculate the logarithmic modification terms for entropy around the equilibrium state to analyze the impacts of logarithmic correction. In the presence of the correction terms, we also check the validity of the thermodynamics. It examines the graphical representation of the influence of logarithmic correction on the thermodynamic properties of black hole stability as well as charged, accelerating, and gauge potential parameters.

A Lie group variational integrator in a closed-loop vector space without a multiplier

Abstract. As a non-tree multi-body system, the dynamics model of four-bar mechanism is a differential algebraic equation. The constraints breach problem leads to many problems for computation accuracy and efficiency. With the traditional method, constructing an ODE-type dynamics equation for it is difficult or impossible. In this exploration, the dynamics model is built with geometry mechanic theory. The kinematic constraint variation relation of a closed-loop system is built in matrix and vector space with Lie group and Lie algebra theory respectively. The results indicate that the attitude variation between the driven body and the follower body has a linear recursion relation, which is the basis for dynamics modelling. With the Lie group variational integrator method, the closed-loop system Lagrangian dynamics model is built in vector space, with Legendre transformation. The dynamics model is reduced to be the Hamilton type. The kinematic model and dynamics model are solved using Newton iteration and the Runge–Kutta method respectively. As a special case of a crank and rocker mechanism, the dynamics character of a parallelogram mechanism is presented to verify the good structure conservation character of the closed-loop geometry dynamics model.

Dynamic modeling and vibration analysis of bolted flange joint disk-drum structures: Theory and experiment

Bolted flange joint disk-drum structures (BFJDSs) are key components in aero-engines, in which fatigue damage often occurs due to structural vibration. However, no study has so far given an effective theoretical dynamic model of BFJDSs. In this study, an effective dynamic model of BFJDSs is proposed. The present model considers the flange effect, non-uniform contact pressure of bolted joint, and bolt mass. The theoretical expression for describing the stiffness variation of bolted joints is presented. During the modeling process, the energy functions of disk, drum, and flange are obtained according to the Kirchhoff plate, Sanders’ shell, and Euler-Bernoulli beam theories, respectively. The non-uniform artificial spring technique is adopted to simulate the pressure distribution of bolted joint. This method is capable of taking into account the contact pressure, which is closer to real contact situation. The displacement functions of disk and drum are expanded by using the Chebyshev orthogonal polynomials, and the motion equations are obtained by employing the Lagrange equation. Then, the experimental studies are performed on BFJDSs to illustrate the effectiveness of the theoretical model. Finally, the frequency veering and coupling vibration phenomena are revealed. The comparison studies indicate that the established theoretical model can well predict the vibration characteristics of BFJDSs under both bolt looseness and no-looseness conditions. The maximum error can be reduced from 46.81% to 3.61% by using the present dynamic model.

Variational techniques for a one-dimensional energy balance model

Abstract. A one-dimensional climate energy balance model (1D EBM) is a simplified climate model for the zonally averaged global temperature profile, based on the Earth's energy budget. We examine a class of 1D EBMs which emerges as the parabolic equation corresponding to the Euler–Lagrange equations of an associated variational problem, covering spatially inhomogeneous models such as with latitude-dependent albedo. Sufficient conditions are provided for the existence of at least three steady-state solutions in the form of two local minima and one saddle, that is, of coexisting “cold”, “warm” and unstable “intermediate” climates. We also give an interpretation of minimizers as “typical” or “likely” solutions of time-dependent and stochastic 1D EBMs. We then examine connections between the value function, which represents the minimum value (across all temperature profiles) of the objective functional, regarded as a function of greenhouse gas concentration, and the global mean temperature (also as a function of greenhouse gas concentration, i.e. the bifurcation diagram). Specifically, the global mean temperature varies continuously as long as there is a unique minimizing temperature profile, but coexisting minimizers must have different global mean temperatures. Furthermore, global mean temperature is non-decreasing with respect to greenhouse gas concentration, and its jumps must necessarily be upward. Applicability of our findings to more general spatially heterogeneous reaction–diffusion models is also discussed, as are physical interpretations of our results.

Linear active disturbance rejection control algorithm for active vibration control of piezo-actuated beams: Theoretical and experimental studies

The active vibration control (AVC) of lightweight thin-walled structures on spacecraft has been a proven solution for vibration suppression. In this study, a linear active disturbance rejection control (LADRC) algorithm is presented for vibration suppression of piezo-actuated beams. Firstly, the governing equation of a piezo-actuated beam is obtained by using the Euler–Bernoulli beam theory and the Lagrange equation. The LADRC algorithm is designed for the piezo-actuated beam based on the governing equation. Then, the accuracy of the piezo-actuated beam model is confirmed by comparison with ANSYS and experiments. Finally, numerical simulations and experiments are carried out on the active vibration suppression of the piezo-actuated beam under the fixed harmonic excitation, variable harmonic excitation, and fixed harmonic excitation with measuring noise, respectively. The results show that the LADRC algorithm has an excellent control effect on structural vibration suppression, strong adaptability to various external excitations, and anti-noise ability.

Using Kolmogorov Entropy to Verify the Description Completeness of Traffic Dynamics of Highly Autonomous Driving

In this paper, we outline the analysis of a fully provable traffic system based on the Kolmogorov entropy. The completeness of the traffic node dynamics is realized in the form of a nonlinear dynamical model of the participating transport objects. The goal of this study is to determine the completeness of transport nodes based on the Kolmogorov entropy of the traffic trajectories of a node with an unspecified number of actors, like cars and pedestrians. The completeness of a highly autonomous driving detection system describing a traffic node could be realized if the entropy-based error-doubling time of the trajectories of the Euler–Lagrange equation interpreted at the transport junction is less than 1.3.

Vibration frequency and mode localization characteristics of strain gradient variable-thickness microplates

Based on the modified strain gradient theory and Kirchhoff–Love assumptions, a free vibration model is established for variable-thickness microplates with three material length scale parameters, and the corresponding Euler–Lagrange equation is derived. Keeping the microplate volume constant, three kinds of thickness variations along the X-direction are considered: linear, parabolic, and cubic variations. Further, a C2-type four-node 36-degree-of-freedom variable-thickness differential quadrature finite element is developed to solve the resulting variable-coefficient boundary value problem by combining the Gauss–Lobatto and differential quadrature rules. Galerkin approximate solution for fully simply supported microplates is provided as a benchmark for numerical method verification. The convergence and accuracy of the model are verified through several examples. Finally, the vibration frequencies of the microplates under different thickness variation types, taper ratios, thickness ratios, material length scale parameters, and boundary conditions are examined through parametric analysis. Also, the influence of each factor on the mode localization of the microplates is quantitatively characterized by the modal assurance criterion (MAC) for the first time. The numerical results show that the thickness variation has a minor effect on the vibration frequency but a significant influence on the mode shape when the volume of the microplate is constant. The strain gradient, taper ratio, and discontinuous boundary have a remarkable effect on the distribution of higher-order mode shape contour lines and the regions where vibration localization occurs.

Supercritical and subcritical aeroelastic behaviors of a three-dimensional wing coupled with a nonlinear energy sink

This paper studies the flutter control of a three-dimensional wing using a nonlinear energy sink (NES), which has a purely cubic stiffness and a linear damper. The structural model is derived by Lagrange's equations and the aerodynamics is modeled using the auto regressive with exogenous input method. Both models are solved in a tightly coupling manner to obtain time domain results. Then, the structural describing function and the aerodynamic continuous-time state space model are used to derive the equivalent linearized aeroelastic system, so that eigenvalue analyses can be used to obtain stable and unstable limit cycle oscillations (LCOs). The LCOs obtained by time domain simulations agree well with the equivalent linearization method, while differences are observed for aperiodic motions which are only predicted in time domain for small damping coefficients. Results show the square of aeroelastic amplitude is inversely proportional to the NES stiffness coefficient for both periodic and aperiodic motions. The NES can induce LCOs below flutter speed for small damping coefficients, indicating a subcritical bifurcation which can change to a supercritical one by increasing the damping coefficient. It is discovered that the upper bound of partial suppression region is quantified by a turning point speed. The regions of complete suppression, partial suppression and no suppression are clarified.

Nonlinear vibrations of porous-hyperelastic cylindrical shell under harmonic force using harmonic balance and pseudo-arc length continuation methods

The resonant responses are investigated for the porous-hyperelastic Mooney–Rivlin cylindrical shell subjected to a radial harmonic excitation. Considering the higher-order shear deformation theory (HSDT), fourth-order strain-displacement relations are derived, which include the radial geometric imperfections varying along the thickness direction. Using the porous-hyperelastic Mooney–Rivlin constitution relation and Lagrange equation, the differential governing equations of motion are obtained for the porous-hyperelastic cylindrical shells. The resonant conditions are presented and the accuracy of the mathematical models is verified. The harmonic balance and pseudo-arc length continuation methods are used to obtain the amplitude-frequency and forced-amplitude curves. The stability of the solutions is analyzed by Floquet theory. The effects of the external excitation amplitudes, structure parameters and porosity infill parameters on the linear frequencies, amplitude-frequency responses and force-amplitude responses are discussed for the imperfect porous-hyperelastic cylindrical shells. The results show that the linear frequencies of the porous-hyperelastic cylindrical shells increase obviously as the uniform and sigmoid function porosity parameters reach the certain values. The increase of the structure parameters enhances the response amplitudes of the first-order mode and minified response amplitudes of the second-order mode. The decreasing porosity ratios weaken the softening nonlinear behaviors of the porous-hyperelastic cylindrical shells. With the changes of the external excitation amplitudes and structure parameters, the motion of the porous-hyperelastic cylindrical shell indicates that the synchronous vibrations occur with the period and chaotic vibrations alternately.

A Physics-Informed Low-Shot Adversarial Learning for sEMG-Based Estimation of Muscle Force and Joint Kinematics.

Muscle force and joint kinematics estimation from surface electromyography (sEMG) are essential for real-time biomechanical analysis of the dynamic interplay among neural muscle stimulation, muscle dynamics, and kinetics. Recent advances in deep neural networks (DNNs) have shown the potential to improve biomechanical analysis in a fully automated and reproducible manner. However, the small sample nature and physical interpretability of biomechanical analysis limit the applications of DNNs. This paper presents a novel physics-informed low-shot adversarial learning method for sEMG-based estimation of muscle force and joint kinematics. This method seamlessly integrates Lagrange's equation of motion and inverse dynamic muscle model into the generative adversarial network (GAN) framework for structured feature decoding and extrapolated estimation from the small sample data. Specifically, Lagrange's equation of motion is introduced into the generative model to restrain the structured decoding of the high-level features following the laws of physics. A physics-informed policy gradient is designed to improve the adversarial learning efficiency by rewarding the consistent physical representation of the extrapolated estimations and the physical references. Experimental validations are conducted on two scenarios (i.e. the walking trials and wrist motion trials). Results indicate that the estimations of the muscle forces and joint kinematics are unbiased compared to the physics-based inverse dynamics, which outperforms the selected benchmark methods, including physics-informed convolution neural network (PI-CNN), vallina generative adversarial network (GAN), and multi-layer extreme learning machine (ML-ELM).

Investigation on Solid Particle Erosion Performance of Aluminum Alloy Materials for Leading-Edge Slat

This study aims to characterize solid particle erosion behaviors of three different aluminum alloys (AA2024-T351, AA6061-T651, and AA7075-T651) and reveal their erosion performances on leading-edge slat of airplane wings. Solid particle erosion tests were conducted using silicon carbide erodent particles under the conditions of six different impingement angles (20°-90°) and four different impact velocities (70-192 m/s). The erosion simulations of a leading-edge slat of the aforementioned aluminum alloys were numerically simulated at four different rotation angles (0°-15°) for three different impact velocities (130-250 m/s). A commercial ANSYS Fluent software using the Euler-Lagrange equation and an experimental data-based erosion model was used for the erosion simulations. The experimental results showed that the erosion rate increases with increasing impact velocity and the maximum erosion rate is obtained at the impingement angle of 30° which reflects the ductile manner. Of the three aluminum alloys, the AA6061-T651 exhibited the worst erosion behavior followed by the AA2024-T351 sample, whereas the AA7075-T651 had the best erosion resistance. The numerical results indicated that the erosion rate values of slat surfaces made up of three different aluminum alloys showed a slight increase after a slat rotation angle of 5°.

A multiscale differential‐algebraic neural network‐based method for learning dynamical systems

AbstractThe objective of dynamical system learning tasks is to forecast the future behavior of a system by leveraging observed data. However, such systems can sometimes exhibit rigidity due to significant variations in component parameters or the presence of slow and fast variables, leading to challenges in learning. To overcome this limitation, we propose a multiscale differential‐algebraic neural network (MDANN) method that utilizes Lagrangian mechanics and incorporates multiscale information for dynamical system learning. The MDANN method consists of two main components: the Lagrangian mechanics module and the multiscale module. The Lagrangian mechanics module embeds the system in Cartesian coordinates, adopts a differential‐algebraic equation format, and uses Lagrange multipliers to impose constraints explicitly, simplifying the learning problem. The multiscale module converts high‐frequency components into low‐frequency components using radial scaling to learn subprocesses with large differences in velocity. Experimental results demonstrate that the proposed MDANN method effectively improves the learning of dynamical systems under rigid conditions.

Multidomain modeling of acoustical transducers and arrays using electrical network theory

Modeling of piezoceramic acoustic transducers involves the transformation of energy in the electrical, mechanical, acoustical radiation domains. By using generalized coordinates and Lagrangian mechanics, in which principle of least action is applied in each domain, the electrical, piezoelectric, mechanical and sound radiation problems can be solved separately and then combined in a multi-contour equivalent electro-mechanical circuit with each mechanical vibrational resonant modes representing separate degrees of freedom in the coupled electrical circuit. This energy approach involves the calculation of the potential and kinetic energies of each practical mode of vibration, which can be determined analytically, experimentally, or by finite-element-analysis. This is an alternative to the use of Newtonian mechanics which requires an accurate description of the real boundary conditions in the device and is common in many FEA modeling approaches. The availability of software (e.g., Matlab, Python, LTSpice, etc.) to model electrical circuits (networks in the case of multi-resonant devices) makes for a powerful and efficient modeling approach. The historical emergence of this approach stems from adapting the Rayleigh-Ritz method for mechanical and electrical domains with the advent of piezoelectric and magnetostrictive bodies. Several example of piezoceramic transducers are presented.

Study on Rotor-Bearing System Vibration of Downhole Turbine Generator under Drill-String Excitation

Downhole turbine generators (DHTG) installed within drill-string are susceptible to internal and external excitation during the drilling process, causing significant dynamic loads on bearings, and thereby reducing the bearing’s service life. In this study, a finite element model of an unbalanced rotor-bearing system (RBS) of DHTG with multi-frequency excitations, based on the Lagrangian motion differential equation, is established. The responses of the RBS under different drill-string excitations in terms of time-domain response, whirl orbit, and spectrum are analyzed. For a constant rotor speed, lateral harmonic translational and lateral oscillation both transform the whirl orbit to quasi-periodic, while axial rotation only changes the response amplitude. Changing the duration of pulse excitation leads to different response forms. Then, the dynamic characteristics of the RBS supported by a squeeze film damper (SFD) are investigated. The results indicate that SFD effectively reduces the displacement response amplitude and bearing force near the critical speed. As the axial rotation angular velocity of the drill-string increases, the first critical speed and displacement response decrease, while the variation of lateral oscillation frequency and amplitude has limited impact on them. The established model provides a means for analyzing the dynamic characteristics of DHTG’s RBS under drill-string excitations during the design stage.

The general set of Noetherian energy-momentum tensors in linearized gravity: mathematical framework

Energy-momentum tensors are foundational objects which are uniquely defined in standard physical field theories such as electrodynamics and Yang-mills theory. In general relativity, and in particular linearized gravity where symmetries required for an energy-momentum tensor derived from Noether’s first theorem are well defined, there exists a long standing non-uniqueness problem; numerous distinct energy-momentum expressions exist in the literature, and there is not consensus which, if any, is the unique expressions for the theory. Recently, the viability of the superpotential ‘improvement’ method was shown to be insufficient for addressing the non-uniqueness problem of energy-momentum tensors in linearized gravity. In the present article, the mathematical framework for the general set of Noetherian energy-momentum tensors in linearized gravity is derived using Noether’s first theorem, which consists of all possible energy-momentum tensors from the Noether current which yield the linearized Einstein field equations in the corresponding Euler-Lagrange equation of the Noether identity without introducing any ‘improvement’ terms. This result has several advantages in addition to not requiring ‘improvements’, such as the ability to impact the Lagrangian proportional piece of the energy-momentum tensor. Numerous common published gravitational energy-momentum expressions are then compared to these general results to assess which can be classified as Noetherian, and which cannot. Standard physical criteria such as symmetry and tracelessness are then used to prove that it is possible to directly obtain an energy-momentum tensor which is simultaneously symmetric and traceless from the Noether current; such an expression is derived from the general results. Consequences of these results and their relation to the aforementioned non-uniqueness problem are discussed.

ANALYSIS OF HUMAN LOWER LIMB DYNAMICS AND GAIT RECONSTRUCTION

In order to achieve gait reconstruction of human posture, a 7-degree-of-freedom model of the human lower limbs is proposed. On the basis of this model, dynamic analysis was conducted and the Lagrange equation of the human lower limb dynamic system was constructed. In the process of solving the kinetic energy–potential energy relationship of the Lagrange equation, the angular solutions of each joint were obtained. Based on actual data, common gait patterns of human lower limbs were presented, and gait reconstruction experiments were conducted. The experimental results show that under the human lower limb model and dynamic analysis method constructed in this paper, the variation curves of the hip joint, knee joint, and ankle joint of the human lower limb have been effectively reconstructed.

PID Optimization Tuning Using Lagrangian Mechanics

Creating a simulation of a system enables the tuning of control systems without the need for a physical system. In this paper, we employ Lagrangian Mechanics to derive a set of equations to simulate an inverted pendulum on a cart. The system consists of a freely-rotating rod attached to a cart, with the rod’s balance achieved through applying the correct forces to the cart. We manually tune the proportional, integral, and derivative gain coefficients of a Proportional Integral Derivative controller (PID) to balance a rod. To further improve PID performance, we can optimize an objective function to find better gain coefficients.

Adaptive Tracking Control of Robotic Manipulator Subjected to Actuator Saturation and Partial Loss of Effectiveness

Abstract This paper introduces an adaptive control design tailored for robotic systems described by Euler–Lagrange equations under actuator saturation and partial loss of effectiveness. The adaptive law put forth not only retains conventional control properties but also extends its scope to effectively address challenges posed by actuator saturation and partial loss of effectiveness. The framework’s primary focus is on bolstering system robustness, thereby ensuring the achievement of uniformly ultimate bounded tracking errors. The stability and convergence of the system’s behavior are rigorously established through the application of the Lyapunov analysis technique. Moreover, the effectiveness and superiority of the introduced framework are compellingly demonstrated through a series of practical simulations and experimental instances.