On the use of the autonomous Birkhoff equations in Lie series perturbation theory

In this article, we present the Lie transformation algorithm for autonomous Birkhoff systems. Here, we are referring to Hamiltonian systems that obey a symplectic structure of the general form. The Birkhoff equations are derived from the linear first-order Pfaff–Birkhoff variational principle, which is more general than the Hamilton principle. The use of 1-form in formulating the equations of motion in dynamics makes the Birkhoff method more universal and flexible. Birkhoff’s equations have a tensorial character, so their form is independent of the coordinate system used. Two examples of normalization in the restricted three-body problem are given to illustrate the application of the algorithm in perturbation theory. The efficiency of this algorithm for problems of asymptotic integration in dynamics is discussed for the case where there is a need to use non-canonical variables in phase space.     

Simulation of the full two rigid body problem using polyhedral mutual potential and potential derivatives approach

Herein we investigate the coupled orbital and rotational dynamics of two rigid bodies modelled as polyhedra, under the influence of their mutual gravitational potential. The bodies may possess any arbitrary shape and mass distribution. A method of calculating the mutual potential’s derivatives with respect to relative position and attitude is derived. Relative equations of motion for the two body system are presented and an implementation of the equations of motion with the potential gradients approach is described. Results obtained with this dynamic simulation software package are presented for multiple cases to validate the approach and illustrate its utility. This simulation capability is useful both for addressing questions in dynamical astronomy and for enabling spacecraft missions to binary asteroid systems.     

Hamiltonian Dynamics of a Gyrostat in the N-Body Problem: Relative Equilibria

We consider the non-canonical Hamiltonian dynamics of a gyrostat in Newtonian interaction with n spherical rigid bodies. Using the symmetries of the system we carry out two reductions. Then, working in the reduced problem, we obtain the equations of motion, a Casimir function of the system and the equations that determine the relative equilibria. Global conditions for existence of relative equilibria are given. Besides, we give the variational characterization of these equilibria and three invariant manifolds of the problem; being calculated the equations of motion in these manifolds, which are described by means of a canonical Hamiltonian system. We give some Eulerian and Lagrangian equilibria for the four body problem with a gyrostat. Finally, certain classical problems of Celestial Mechanics are generalized.     

The general motion of three mutually-interacting,axisymmetric spherical rigid bodies

In this paper, the translational-rotational motions of an axisymmetric rigid body and two spherical rigid bodies under the influence of their mutual gravitational attraction are considered. The equations of motion in the canonical elements of Delaunay-Andoyer are obtained. The elements of motion in the zero and first approximations can be determined.     

Reduction,relative equilibria and potential in the two rigid bodies problem

In this paper the problem of two, and thus, after a generalization, of an arbitrary finite number, of rigid bodies is considered. We show that the Newton-Euler equations of motion are Hamiltonian with respect to a certain non-canonical structure. The system possesses natural symmetries. Using them we shown how to perform reduction of the number of degrees of freedom. We prove that on every stage of this process equations of motion are Hamiltonian and we give explicite form corresponding of non-canonical Poisson bracket. We also discuss practical consequences of the reduction. We prove the existence of 36 non-Lagrangean relative equilibria for two generic rigid bodies. Finally, we demonstrate that our approach allows to simplify the general form of the mutual potential of two rigid bodies.     

Explicit Symplectic Algorithms For Time‐Transformed Hamiltonians

By Hamiltonian manipulation we demonstrate the existence of separable time‐transformed Hamiltonians in the extended phase‐space. Due to separability explicit symplectic methods are available for the solution of the equations of motion. If the simple leapfrog integrator is used, in case of two‐body motion, the method produces an exact Keplerian ellipse in which only the time‐coordinate has an error. Numerical tests show that even the rectilinear N‐body problem is feasible using only the leapfrog integrator. In practical terms the method cannot compete with regularized codes, but may provide new directions for studies of symplectic N‐body integration. This revised version was published online in July 2006 with corrections to the Cover Date.     

Mutual gravitational potential ofN solid bodies

The mutual gravitational potential ofN solid bodies is expanded without approximation in terms of harmonic coefficients of each body. As an application the Euler dynamical equations for the motion of the axis of figure of the rigid Earth are integrated analytically by the method of variation of parameters.     

Symplectic integrator for general near-integrable Hamiltonian system

In this paper, following the idea of constructing the mixed symplectic integrator (MSI) for a separable Hamiltonian system, we give a low order mixed symplectic integrator for an inseparable, but nearly integrable, Hamiltonian system, Although the difference schemes of the integrators are implicit, they not only have a small truncation error but, due to near integrability, also a faster convergence rate of iterative solution than ordinary implicit integrators, Moreover, these second order integrators are time-reversible.     

几类辛方法的数值稳定性研究

主要对一阶隐式Euler辛方法M1、二阶隐式Euler中点辛方法M2、一阶显辛Euler方法M3和二阶leapfrog显辛积分器M4共4种辛方法及一些组合算法进行了通常意义下的线性稳定性分析．针对线性哈密顿系统,理论上找到每个数值方法的稳定区,然后用数值方法检验其正确性．对于哈密顿函数为实对称二次型的情况,为了理论推导便利,特推荐采用相似变换将二次型的矩阵对角化来研究辛方法的线性稳定性．当哈密顿分解为一个主要部分和一个小摄动次要部分且二者皆可积时,无论是线性系统还是非线性系统,这种主次分解与哈密顿具有动势能分解相比,明显扩大了辛方法的稳定步长范围．     

辛方法的校正公式

1996年Wisdom等提出了对辛方法进行校正的概念和实践，现在继续对辛校正进行详尽讨论和数值比较，尤其对哈密顿函数可分解为一个主要部分和多个次要部分的一般情形，用Lie级数推导任意阶的各种辛算法的一次和二次辛校正公式并对一些算法给出具体的辛校正公式。又以日、木、土三体问题为模型进行数值实验，结果表明一次辛校正能提高精度，改善数值稳定性。计算效率也比较高，因而值得推荐使用，辛方法通常用大步长数值积分，这时二次辛校正并没有显著提高结果的精度，却大大增加了计算时间，不应予以推荐。     

The roche coordinates and their use in hydrodynamics or celestial mechanics

The aim of the present paper will be to introduce a new system of curvilinear coordinateshereafter referred to as Roche coordinates-in which spheres of constant radius are replaced by equipotential surfaces of a rotating gravitational dipole (which consists of two discrete points of finite mass, revolving around their common center of gravity); while the remaining coordinates are orthogonal to the equipotentials. It will be shown that the use of such coordinates offers a new method of approach to the solution of certain problems of particle dynamics (such as, for instance, the construction of certain types of trajectories in the restricted problem of three bodies); as well as of the hydrodynamics of gas streams in close binary systems, in which the equipotential surfaces of their components distorted by axial rotation and mutual tidal interaction constitute essential boundary conditions.Following a general outline of the problem in Section 1, the Roche coordinates associated with the equipotentials of a rotating gravitational dipole will be constructed in the plane case (Section 2), and their geometrical properties discussed. In Section 3, we shall transform the fundamental equations of hydrodynamics to their forms appropriate in the curvilinear Roche coordinates. The metric coefficients of this transformation will be formulated in a closed form in Section 4 in terms of the respective partial derivatives of the potential; while in Section 5 analytic expressions for the Roche coordinates will be given in the orbital plane of the dipole, which are exact as far as the distortion of the equipotential curves from circular form can be described by the second, third and, fourth harmonics.The concluding Section 6 will be devoted to a formulation of the equations of a mass-point in the restricted problem of three bodies in the Roche coordinates. Three special cases will be considered: (a) motion in the neighborhood of the equipotential curves; (b) motion in the direction normal to such curves; and (c) motion in the neighbourhood of the Lagrangian points. It will be shown that motion in one coordinate is possible only in limiting cases which will be enumerated; but twodimensional motions in which one velocity component is very much smaller than the other invite further study.A generalization of the plane Roche coordinates to three dimensions, with application to additional classes of problems, is being postponed for a subsequent paper.     

Explicit Adaptive Symplectic (Easy) Integrators: A Scaling Invariant Generalisation of the Levi-Civitaand KS Regularisations

We present a generalisation of the Levi-Civita and Kustaanheimo-Stiefel regularisation. This allows the use of more general time rescalings. In particular, it is possible to find a regularisation which removes the singularity of the equations and preserves scaling invariance. In addition, these equations can, in certain cases, be integrated with explicit symplectic Runge-Kutta-Nyström methods. The combination of both techniques gives an explicit adaptive symplectic (EASY) integrator. We apply those methods to some perturbations of the Kepler problem and illustrate, by means of some numerical examples, when scaling invariant regularisations are more efficient that the LC/KS regularisation.     

Stability of the classical type of relative equilibria of a rigid body in the J 2 problem

The motion of a point mass in the J ₂ problem is generalized to that of a rigid body in a J ₂ gravity field. The linear and nonlinear stability of the classical type of relative equilibria of the rigid body, which have been obtained in our previous paper, are studied in the framework of geometric mechanics with the second-order gravitational potential. Non-canonical Hamiltonian structure of the problem, i.e., Poisson tensor, Casimir functions and equations of motion, are obtained through a Poisson reduction process by means of the symmetry of the problem. The linear system matrix at the relative equilibria is given through the multiplication of the Poisson tensor and Hessian matrix of the variational Lagrangian. Based on the characteristic equation of the linear system matrix, the conditions of linear stability of the relative equilibria are obtained. The conditions of nonlinear stability of the relative equilibria are derived with the energy-Casimir method through the projected Hessian matrix of the variational Lagrangian. With the stability conditions obtained, both the linear and nonlinear stability of the relative equilibria are investigated in details in a wide range of the parameters of the gravity field and the rigid body. We find that both the zonal harmonic J ₂ and the characteristic dimension of the rigid body have significant effects on the linear and nonlinear stability. Similar to the classical attitude stability in a central gravity field, the linear stability region is also consisted of two regions that are analogues of the Lagrange region and the DeBra-Delp region respectively. The nonlinear stability region is the subset of the linear stability region in the first quadrant that is the analogue of the Lagrange region. Our results are very useful for the studies on the motion of natural satellites in our solar system.     

The mutual potential and gravitational torques of two bodies to fourth order

The mutual gravitational potential of two bodies of arbitrary shape is expressed to fourth order in an extension of MacCullagh's Formula for a single body. The expressions for the gravitational torques acting on each body are derived in a form convenient for use in the differential equations describing the rotational dynamics.     

About the first integrals of the generalized problem of translatory-rotary motion of rigid bodies

The existence of ten first integrals for the classical problem of the motion of a system of material points, mutually attracting according to Newtonian law, is well known.The existence of the analogous ten first integrals for the more complicated problem of the motion of a system of absolutely rigid bodies, whose elementary particles mutually attract according to the Newtonian law, was established by the author (Duboshin, 1958, 1963, 1968).In his later papers (Duboshin, 1969, 1970), the problem of the motion of a system of material points, attracting each other according to a more general law, was considered and, in particular, it was shown under what conditions the ten first integrals, analogous to the classical integrals, may exist for this problem.In the present paper, the generalized problem of translatory-rotatory motion of rigid bodies, whose elementary particles acting upon each other according to arbitrary laws of forces along the straight line joining them, is discussed.The author has shown that the first integrals for this general problem, analogous to the integrals of the problem of the translatory-rotatory motion of rigid bodies, whose elementary particles acting according to the Newtonian law, exist under certain well known conditions.That is, it has been established that if the third axiom of dynamics (action = reaction) is satisfied, then the integrals of the motion of centre of inertia and the integrals of the moment of momentum exist for this generalized problem.If the third axiom is not satisfied, then the above mentioned integrals do not exist.The third axiom is a necessary but not a sufficient condition for the existence of the tenth integral-the energy integral. The tenth integral always exists if the elementary particles of the bodies acting with a force, depend only on the mutual distances between them. In this case the force function exists for the problem and the energy integral can be expressed in a well known form.The tenth integral may exist for some more general case, without expressing the principle of conservation of energy, but permitting calculation of the kinetic energy, if the configuration of a system is given.The problem, in which the elementary particles acting according to the generalized Veber's law (Tisserand, 1896) has been cited as an example of this more general case.     

Comparing maps to symplectic integrators in a galactic type Hamiltonian

We obtain thex - p _xPoincare phase plane for a two dimensional, resonant, galactic type Hamiltonian using conventional numerical integration, a second order symplectic integrator and a map based on the averaged Hamiltonian. It is found that all three methods give good results, for small values of the perturbation parameter, while the symplectic integrator does a better job than the mapping, for large perturbations. The dynamical spectra are used to distinguish between regular and chaotic motion.     

Motion near the triangular points in the elliptic restricted problem of three bodies

In this paper the first variational equations of motion about the triangular points in the elliptic restricted problem are investigated by the perturbation theories of Hori and Deprit, which are based on Lie transforms, and by taking the mean equations used by Grebenikov as our upperturbed Hamiltonian system instead of the first variational equations in the circular restricted problem. We are able to remove the explicit dependence of transformed Hamiltonian on the true anomaly by a canonical transformation. The general solution of the equations of motion which are derived from the transformed Hamiltonian including all the constant terms of any order in eccentricity and up to the periodic terms of second order in eccentricity of the primaries is given.     

The generalized non-conservative model of a 1-planet system revisited

We study the long-term dynamics of a planetary system composed of a star and a planet. Both bodies are considered as extended, non-spherical, rotating objects. There are no assumptions made on the relative angles between the orbital angular momentum and the spin vectors of the bodies. Thus, we analyze full, spatial model of the planetary system. Both objects are assumed to be deformed due to their own rotations, as well as due to the mutual tidal interactions. The general relativity corrections are considered in terms of the post-Newtonian approximation. Besides the conservative contributions to the perturbing forces, there are also taken into account non-conservative effects, i.e., the dissipation of the mechanical energy. This dissipation is a result of the tidal perturbation on the velocity field in the internal zones with non-zero turbulent viscosity (convective zones). Our main goal is to derive the equations of the orbital motion as well as the equations governing time-evolution of the spin vectors (angular velocities). We derive the Lagrangian equations of the second kind for systems which do not conserve the mechanical energy. Next, the equations of motion are averaged out over all fast angles with respect to time-scales characteristic for conservative perturbations. The final equations of motion are then used to study the dynamics of the non-conservative model over time scales of the order of the age of the star. We analyze the final state of the system as a function of the initial conditions. Equilibria states of the averaged system are finally discussed.     

Numerical experiments on the efficiency of second-order mixed-variable symplectic integrators for N-body problems

We discuss the efficiency of the so-called mixed-variable symplectic integrators for N-body problems. By performing numerical experiments, we first show that the evolution of the mean error in action-like variables is strongly dependent on the initial configuration of the system. Then we study the effect of changing the stepsize when dealing with problems including close encounters between a particle and a planet. Considering a previous study of the slow encounter between comet P/Oterma and Jupiter, we show that the overall orbital patterns can be reproduced, but this depends on the chosen value of the maximum integration stepsize. Moreover the Jacobi constant in a restricted three-body problem is not conserved anymore when the stepsize is changed frequently: over a 10⁵ year time span, to keep a relative error in this integral of motion of the same order as that given by a Bulirsch-Stoer integrator requires a very small integration stepsize and much more computing time. However, an integration of a sample including 10⁴ particles close to Neptune shows that the distributions of the variation of the elements over one orbital period of the particles obtained by the Bulirsch-Stoer integrator and the symplectic integrator up to a certain integration stepsize are rather similar. Therefore, mixed-variable symplectic integrators are efficient either for N-body problems which do not include close encounters or for statistical investigations on a big sample of particles.