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A Geometric Outlook
International Young Researchers Workshop on
Geometry, Mechanics and Control, Barcelona
Joris Vankerschaver
jv@caltech.edu
California Institute of Technology
Ghent University
December 16-18
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 1 / 43
Introduction & Motivation
Motivation
There are tons of situations where one would like to know the motion
of a rigid body in a uid.
Kutta-Joukowski theorem:
An airfoil in an airstream with velocity Ve
i
and cir-
culation experiences a lift force F = Ve
i
.
F
V
R
2N
:
SMBK BMR
Poisson bracket canonical modied
Hamiltonian interaction-type kinetic energy.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 7 / 43
Point vortices interacting with a rigid body
Dierent descriptions of the dynamics
BMR SMBK
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 8 / 43
Point vortices interacting with a rigid body
Our aim in this lecture
We will put the pioneering work of SMBK and BMR on a rm geometrical
footing.
By symplectic reduction we will obtain BMR and SMBK, and the link
between both;
t
+u = 0.
Vorticity is advected with the ow.
Kelvins theorem:
d
dt
= 0, where
=
_
C
u dl =
_
S
ndS
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 12 / 43
Reduction by stages
Rigid bodies interacting with point vortices
x
(x
0
, y
0
)
X
y
Y
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 13 / 43
Reduction by stages
Outline of the method
B
=
can
+ eB.
Surprisingly, the relation between both has an exact analogue in the
interaction of solids and vortices!
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 15 / 43
Reduction by stages Toy example: charged magnetic particles
Reconciling both points of view: the Kaluza-Klein approach
Let M = R
3
with the Euclidian metric h and let A be a vector
potential on M. Dene a new metric g on Q by putting
g
ab
=
_
h
+ A
1
_
.
Momentum map:
J : T
Q R, J(x, , p, p) = p.
M,
with the canonical symplectic form.
M:
H =
1
2m
|p eA|
2
.
Conclusion: symplectic reduction yields the minimal coupling picture.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 17 / 43
Reduction by stages Toy example: charged magnetic particles
Shifting the symplectic form
What if we would like to work in the modied symplectic picture?
M T
M
: (x, p) (x, p = p + eA)
Note that
H
A
= H
kin
.
is a symplectic map:
can
=
(dp dx)
= d( p + eA) dx
=
can
+ eB
Conclusion: pulls back the minimal coupling picture to the modied
symplectic picture.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 18 / 43
Reduction by stages Toy example: charged magnetic particles
The geometry behind all this: connections and curvature
Dene the forms
/ = A + d and B = d/.
/ is a U(1)-connection on Q.
B
= dH i
X
can
= dH ei
X
B
The Lorentz force ei
X
B is a gyroscopic force, due to the curvature B.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 19 / 43
Reduction by stages Toy example: charged magnetic particles
Relation with the uid-solid problem
Magnetic terms Minimal coupling
Symplectic form curvature canonical
Hamiltonian canonical connection form.
for Emb(T
0
, R
2
), we have
d
2
x = d
2
x
F
0
(volume preservation);
Take a curve t (
t
, g
t
) such that
0
= and g
0
= g.
The derivative
0
is a map from T
0
to TR
2
, dened as
0
(x) =
t
(x)
t
t=0
T
(x)
R
2
.
In other words,
0
is a vector eld along .
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 23 / 43
Reduction by stages Particle relabeling symmetry
The kinetic energy
Let (, g; , g) be an element of T(Emb(T
0
, R
2
) SE(2)) and dene
u =
1
and (, V) = g
1
g.
T =
2
_
F
|u|
2
d
2
x
. .
uid
+
I
2
2
+
m
2
V
2
. .
body
.
The group Di
vol
of volume-preserving dieomorphisms acts on the
right on Emb(T
0
, R
2
) SE(2):
(, g) = ( , g),
leaving the kinetic energy invariant.
such that
/(v
q
g) = Ad
g
1 /(v
q
) and /(
Q
) =
for all g.
2. A G-invariant distribution H such that TQ = H V.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 26 / 43
Reduction by stages The Neumann connection
What happens if we move the rigid body?
2
= 0 and
n
= (V + X) n on T
and (, V) = g
1
g.
gives the response of the uid to the rigid body motion (g, g).
u
V
X
vol
,
where u = +u
V
.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 28 / 43
Reduction by stages The Neumann connection
The curvature of the Neumann connection
Question: move the rigid body around in a closed loop. Will the uid
particles also return to their original location?
Failure of
H
(t) to close: geometric phase.
The space Di
vol
is (formally) a Lie group: multiplication is given by
composition, and the unit is the identity map:
= and e = id.
Lie algebra: T
e
Di
vol
= X
vol
, the algebra of divergence-free vector
elds on T
0
which are tangent to T
0
, with the Jacobi bracket:
[X, Y]
X
= [X, Y].
The minus sign is due to the right action of Di
vol
on itself.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 31 / 43
Reduction by stages The Neumann connection
. . . and its dual X
vol
vol
is
1
(T
0
), with pairing
, X) =
_
F
0
(X) d
2
x.
vol
=
1
(T
0
)
d
0
(T
0
)
= d
1
(T
0
),
where the last isomorphism is given by [] d.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 32 / 43
Reduction by stages The Neumann connection
The momentum map associated to Di
vol
: vorticity
vol
given by (recall that u =
1
)
J(, g; , g) = d(
).
characterized by
i =1
i
(x x
i
)dx dy
What does J
1
()/G
look like?
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 34 / 43
Reduction by stages The Neumann connection
Special case: cotangent bundle reduction
(Q/G)
Q/G
Q/G
;
the dieomorphism depends on the choice of /.
=
can
where
given by
Q,G
= d, /).
to the curvature B.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 35 / 43
Reduction by stages The Neumann connection
Cotangent bundle reduction: point vortices
= .
is in this case
(Emb(T
0
, R
2
) SE(2))/Di
vol,
= R
2N
SE(2).
(Q/G)
Q/G
Q/G
= T
(SE(2)) R
2N
;
product of a cotangent bundle and a co-adjoint orbit.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 36 / 43
Reduction by stages The Neumann connection
The reduced symplectic form has the vortex-rigid body
interaction
The magnetic two-form
is a two-form on R
2N
SE(2) and can be
written as
(x
1
, . . . , x
N
; g)((v
1
, . . . , v
N
, g
1
), (w
1
, . . . , w
N
, g
2
))
=
N
i =1
i
_
dx(v
i
, w
i
) + d(
A
d
A
)( g
1
, v
i
; g
2
, w
i
)
_
.
N
i =1
i
dx(v
i
, w
i
) is the Konstant-Kirillov-Souriau form on the
co-adjoint orbit R
2N
.
SE(2) R
2N
. Factoring out this symmetry boils down to rewriting
the equations of motion in body coordinates.
SE(2) R
2N
to the following Poisson structure on se(2)
R
2N
:
f , k
int
=
f
f
|P
, k
|P
R
2N
_
f
,
k
k +
k
f ,
X(SE(2) R
2N
) be the innitesimal generator corresponding to
se(2)
by
i
= d, ).
R
2N
se(2)
R
2N
, with
o(, x) = ( (e, x), x).
Symplectic reduction gives the Poisson bracket for a rigid body with
circulation:
f , g = f , g
se(2)
_
f
P
x
g
P
y
g
P
x
f
P
y
_
. .
curvature term
.
= 0
P
x
= P
y
/I P
y
/m
P
y
= P
x
/I + P
x
/m,
F
V
Relative equilibria and their stability, chaos. For one vortex + body,
the reduced phase space is a symplectic leaf O in se(2)
R
2
, so
dimO = 4. Independent commuting integrals: energy and rotations
around symmetry axis.
Joris Vankerschaver (Caltech) Rigid bodies and uids December 16-18 42 / 43
Conclusions & open questions
References