The coalescence of invariant manifolds and the spiral structure of barred galaxies

In a previous paper (Voglis et al., Paper I), we demonstrated that, in a rotating galaxy with a strong bar, the unstable asymptotic manifolds of the short-period family of unstable periodic orbits around the Lagrangian points L ₁ or L ₂ create correlations among the apocentric positions of many chaotic orbits, thus supporting a spiral structure beyond the bar. In this paper, we present evidence that the unstable manifolds of all the families of unstable periodic orbits near and beyond corotation contribute to the same phenomenon. Our results refer to a N -body simulation, a number of drawbacks of which, as well as the reasons why these do not significantly affect the main results, are discussed. We explain the dynamical importance of the invariant manifolds as due to the fact that they produce a phenomenon of 'stickiness' slowing down the rate of chaotic escape in an otherwise non-compact region of the phase space. We find a stickiness time of the order of 100 dynamical periods, which is sufficient to support a long-living spiral structure. Manifolds of different families become important at different ranges of values of the Jacobi constant. The projections of the manifolds of all the different families in the configuration space produce a pattern due to the 'coalescence' of the invariant manifolds. This follows closely the maxima of the observed   m = 2  component near and beyond corotation. Thus, the manifolds support both the outer edge of the bar and the spiral arms.     

Chaotic spiral galaxies

We study the role of asymptotic curves in supporting the spiral structure of a N-body model simulating a barred spiral galaxy. Chaotic orbits with initial conditions on the unstable asymptotic manifolds of the main unstable periodic orbits follow the shape of the periodic orbits for an initial interval of time and then they are diffused outwards along the spiral structure of the galaxy. Chaotic orbits having small deviations from the unstable periodic orbits, stay close and along the corresponding unstable asymptotic manifolds, supporting the spiral structure for more than 10 rotations of the bar. Chaotic orbits of different Jacobi constants support different parts of the spiral structure. We also study the diffusion rate of chaotic orbits outwards and find that the orbits that support the outer parts of the galaxy are diffused outwards more slowly than the orbits supporting the inner parts of the spiral structure.     

Order and chaos in spiral galaxies

Spiral galaxies contain both ordered and chaotic orbits. In normal spirals the perturbations are weak (of order 2–10%) and most orbits are ordered. The density wave theory refers mainly to linear perturbations. Nonlinear effects appear in the outer parts of the open spirals (S_b, S_c) and produce the termination of these spirals near the 4/1 resonance. On the other hand in barred spirals the perturbations are relatively strong (of order 100%). Then the outer spirals and the envelope of the bar are composed mainly of chaotic orbits, while the main body of the bar is composed of ordered orbits. The chaotic orbits of the spiral arms of strong barred galaxies are sticky, i.e. they do not escape from the galaxy for at least a Hubble time. The forms of these spirals are delineated by the unstable manifolds of the unstable periodic orbits L_1, L_2 near the ends of the bar and of other unstable periodic orbits inside and outside corotation.     

Transition spectra of dynamical systems

The spectra of ‘stretching numbers’ (or ‘local Lyapunov characteristic numbers’) are different in the ordered and in the chaotic domain. We follow the variation of the spectrum as we move from the centre of an island outwards until we reach the chaotic domain. As we move outwards the number of abrupt maxima in the spectrum increases. These maxima correspond to maxima or minima in the curve a(θ), where a is the stretching number, and θ the azimuthal angle. We explain the appearance of new maxima in the spectra of ordered orbits. The orbits just outside the last KAM curve are confined close to this curve for a long time (stickiness time) because of the existence of cantori surrounding the island, but eventually escape to the large chaotic domain further outside. The spectra of sticky orbits resemble those of the ordered orbits just inside the last KAM curve, but later these spectra tend to the invariant spectrum of the chaotic domain. The sticky spectra are invariant during the stickiness time. The stickiness time increases exponentially as we approach an island of stability, but very close to an island the increase is super exponential. The stickiness time varies substantially for nearby orbits; thus we define a probability of escape P_n(x) at time n for every point x. Only the average escape time in a not very small interval Δx around each x is reliable. Then we study the convergence of the spectra to the final, invariant spectrum. We define the number of iterations, N, needed to approach the final spectrum within a given accuracy. In the regular domain N is small, while in the chaotic domain it is large. In some ordered cases the convergence is anomalously slow. In these cases the maximum value of a_k in the continued fraction expansion of the rotation number a = [a₀,a₁,... a_k,...] is large. The ordered domain contains small higher order chaotic domains and higher order islands. These can be located by calculating orbits starting at various points along a line parallel to the q-axis. A monotonic variation of the sup {q}as a function of the initial condition q₀ indicates ordered motions, a jump indicates the crossing of a localized chaotic domain, and a V-shaped structure indicates the crossing of an island. But sometimes the V-shaped structure disappears if the orbit is calculated over longer times. This is due to a near resonance of the rotation number, that is not followed by stable islands. This revised version was published online in July 2006 with corrections to the Cover Date.     

Regular and irregular periodic orbits

We distinguish between regular orbits, that bifurcate from the main families of periodic orbits (those that exist also in the unperturbed case) and irregular periodic orbits, that are independent of the above. The genuine irregular families cannot be made to join the regular families by changing some parameters. We present evidence that all irregular families appear inside lobes formed by the asymptotic curves of the unstable periodic orbits. We study in particular a dynamical system of two degrees of freedom, that is symmetric with respect to the x-axis, and has also a triple resonance in its unperturbed form. The distribution of the periodic orbits (points on a Poincaré surface of section) shows some conspicuous lines composed of points of different multiplicities. The regular periodic orbits along these lines belong to Farey trees. But there are also lines composed mainly of irregular orbits. These are images of the x-axis in the map defined on the Poincaré surface of section. Higher order iterations of this map , close to the unstable triple periodic orbit, produce lines that are close to the asymptotic curves of this unstable orbit. The homoclinic tangle, formed by these asymptotic curves, contains many regular orbits, that were generated by bifurcation from the central orbit, but were trapped inside the tangle as the perturbation increased. We found some stable periodic orbits inside the homoclinic tangle, both regular and irregular. This proves that the homoclinic tangle is not completely chaotic, but contains gaps (islands of stability) filled with KAM curves.     

Cantori, Islands and Asymptotic Curves in the Stickiness Region

The resonant structure near a noble cantorus is found. Islands of stability are located near the gaps of the cantorus. The crossing of the gaps of the cantorus by the asymptotic curves of unstable periodic orbits is shown numerically (non-schematically). We discuss how these structures influence stickiness. This revised version was published online in July 2006 with corrections to the Cover Date.     

Invariant manifolds, phase correlations of chaotic orbits and the spiral structure of galaxies

In the presence of a strong   m = 2  component in a rotating galaxy, the phase-space structure near corotation is shaped to a large extent by the invariant manifolds of the short-period family of unstable periodic orbits terminating at L ₁ or L ₂. The main effect of these manifolds is to create robust phase correlations among a number of chaotic orbits large enough to support a spiral density wave outside corotation. The phenomenon is described theoretically by soliton-like solutions of a Sine–Gordon equation. Numerical examples are given in an N -body simulation of a barred spiral galaxy. In these examples, we demonstrate how the projection of unstable manifolds in configuration space reproduces essentially the entire observed bar–spiral pattern.     

Analytical and numerical manifolds in a symplectic 4-D map

We study analytically the orbits along the asymptotic manifolds from a complex unstable periodic orbit in a symplectic 4-D Froeschlé map. The orbits are given as convergent series. We compare the analytic results by truncating the series at various orders with the corresponding numerical results and we find agreement along a more extended length, as the order of truncation increases. The agreement is improved when the parameters approach those of the stability domain. Along the manifolds no terms with small divisors appear in the series. The same result is found if we use a parametrization method along the asymptotic curves. In the case of orbits starting close to the manifolds small divisors appear, but the orbits remain close to the manifolds for an extended period of time. If the parameters of the map are close to the stable domain the orbits recede and approach the origin several times and remain confined in a certain volume around the origin for a long time before escaping to large distances. For special sets of parameters we see resonance phenomena and the orbits take particular forms near every resonance.     

Detection of Ordered and Chaotic Motion Using the Dynamical Spectra

Two simple and efficient numerical methods to explore the phase space structure are presented, based on the properties of the "dynamical spectra". 1) We calculate a "spectral distance" D of the dynamical spectra for two different initial deviation vectors. D → 0 in the case of chaotic orbits, while D → const ≠ 0 in the case of ordered orbits. This method is by orders of magnitude faster than the method of the Lyapunov Characteristic Number (LCN). 2) We define a sensitive indicator called ROTOR (ROtational TOri Recongnizer) for 2D maps. The ROTOR remains zero in time on a rotational torus, while it tends to infinity at a rate ∝ N = number of iterations, in any case other than a rotational torus. We use this method to locate the last KAM torus of an island of stability, as well as the most important cantori causing stickiness near it. This revised version was published online in July 2006 with corrections to the Cover Date.     

“Stickiness” in mappings and dynamical systems

We present results of a study of the so-called “stickiness” regions where orbits in mappings and dynamical systems stay for very long times near an island and then escape to the surrounding chaotic region. First we investigated the standard map in the form x_i+1 = x_i+y_i+1 and y_i+1 = y_i+K/2π · sin(2πx_i) with a stochasticity parameter K = 5, where only two islands of regular motion survive. We checked now many consecutive points—for special initial conditions of the mapping—stay within a certain region around the island. For an orbit on an invariant curve all the points remain forever inside this region, but outside the “last invariant curve” this number changes significantly even for very small changes in the initial conditions. In our study we found out that there exist two regions of “sticky” orbits around the invariant curves: A small region I confined by Cantori with small holes and an extended region II is outside these cantori which has an interesting fractal character. Investigating also the Sitnikov-Problem where two equally massive primary bodies move on elliptical Keplerian orbits, and a third massless body oscillates through the barycentre of the two primaries perpendicularly to the plane of the primaries—a similar behaviour of the stickiness region was found. Although no clearly defined border between the two stickiness regions was found in the latter problem the fractal character of the outer region was confirmed.     

Orbital structure in N-body models of barred-spiral galaxies

We study the orbital structure in a series of self-consistent N -body configurations simulating rotating barred galaxies with spiral and ring structures. We perform frequency analysis in order to measure the angular and the radial frequencies of the orbits at two different time snapshots during the evolution of each N -body system. The analysis is done separately for the regular and the chaotic orbits. We thereby identify the various types of orbits, determine the shape and percentages of the orbits supporting the bar and the ring/spiral structures, and study how the latter quantities change during the secular evolution of each system. Although the frequency maps of the chaotic orbits are scattered, we can still identify concentrations around resonances. We give the distributions of frequencies of the most important populations of orbits. We explore the phase-space structure of each system using projections of the 4D surfaces of section. These are obtained via the numerical integration not only of the orbits of test particles, but also of the real N -body particles. We thus identify which domains of the phase space are preferred and which are avoided by the real particles. The chaotic orbits are found to play a major role in supporting the shape of the outer envelope of the bar as well as the rings and the spiral arms formed outside corotation.     

Chaotic Motions in The Field of Two Fixed Black Holes

We study the chaotic motions in the field of two fixed black holes M₁, M₂ by calculating (a) the asymptotic curves from the main unstable periodic orbits, (b) the asymptotic orbits, with particular emphasis οn the homoclinic and heteroclinic orbits, and (c) the basins of attraction of the two black holes. The orbits falling on M₁and M₂form fractal sets. The asymptotic curves consist of many arcs, separated by gaps. Every gap contains orbits falling on a black hole. The sizes of various arcs decrease as the mass ofM₁ increases. The basins of attraction of the black holes M₁, M₂consist of large compact regions and of thin filaments. The relative area of the basin M₂ tends to 100 as M₁ → 0, and it decreases as M₁ increases. The total area of the basins is found analytically, while the relative area of the basin M₂ is given by an empirical formula. Further empirical formulae give the exponential decrease of the number of asymptotic orbits that have not yet reached a black hole after n iterations.     

Spurs and feathering in spiral galaxies

We present smoothed particle hydrodynamic (SPH) simulations of the response of gas discs to a spiral potential. These simulations show that the commonly observed spurs and feathering in spiral galaxies can be understood as being due to structures present in the spiral arms that are sheared by the divergent orbits in a spiral potential. Thus, dense molecular cloud-like structures generate the perpendicular spurs as they leave the spiral arms. Subsequent feathering occurs as spurs are further sheared into weaker parallel structures as they approach the next spiral passage. Self-gravity of the gas is not included in these simulations, stressing that these features are purely due to the hydrodynamics in spiral shocks. Instead, a necessary condition for this mechanism to work is that the gas need be relatively cold (1000 K or less) in order that the shock is sufficient to generate structure in the spiral arms, and such structure is not subsequently smoothed by the gas pressure.     

The structure of chaos in a potential without escapes

We study the structure of chaos in a simple Hamiltonian system that does no have an escape energy. This system has 5 main periodic orbits that are represented on the surface of section by the points (1)O(0,0), (2)C ₁,C ₂(±y _c, 0), (3)B ₁,B ₂(O,±1) and (4) the boundary . The periodic orbits (1) and (4) have infinite transitions from stability (S) to instability (U) and vice-versa; the transition values of are given by simple approximate formulae. At every transitionS U a set of 4 asymptotic curves is formed atO. For larger the size and the oscillations of these curves grow until they destroy the closed invariant curves that surroundO, and they intersect the asymptotic curves of the orbitsC ₁,C ₂ at infinite heteroclinic points. At every transitionU S these asymptotic curves are duplicated and they start at two unstable invariant points bifurcating fromO. At the transition itself the asymptotic curves fromO are tangent to each other. The areas of the lobes fromO increase with ; these lobes increase even afterO becomes stable again. The asymptotic curves of the unstable periodic orbits follow certain rules. Whenever there are heteroclinic points the asymptotic curves of one unstable orbit approach the asymptotic curves of another unstable orbit in a definite way. Finally we study the tangencies and the spirals formed by the asymptotic curves of the orbitsB ₁,B ₂. We find indications that the number of spiral rotations tends to infinity as . Therefore new tangencies between the asymptotic curves appear for arbitrarily large . As a consequence there are infinite new families of stable periodic orbits that appear for arbitrarily large .     

Infinite Feigenbaum sequences and spirals in the vicinity of the Lagrangian periodic solutions

We studied systematically cases of the families of non-symmetric periodic orbits in the planar restricted three-body problem. We took interesting information about the evolution, stability and termination of bifurcating families of various multiplicities. We found that the main families of simple non-symmetric periodic orbits present a similar dynamical structure and bifurcation pattern. As the Jacobi constant changes each branch of the characteristic of a main family spirals around a focal point-terminating point in x- at which the Jacobi constant is C _∞ = 3 and their periodic orbits terminate at the corotation (at the Lagrangian point L₄ or L₅). As the family approaches asymptotically its termination point infinite changes of stability to instability and vice versa occur along its characteristic. Thus, infinite bifurcation points appear and each one of them produces infinite inverse Feigenbaum sequences. That is, every bifurcating family of a Feigenbaum sequence produces the same phenomenon and so on. Therefore, infinite spiral characteristics appear and each one of them generates infinite new inner spirals and so on. Each member of these infinite sets of the spirals reproduces a basic bifurcation pattern. Therefore, we have in general large unstable regions that generate large chaotic regions near the corotation points L₄, L₅, which are unstable. As C varies along the spiral characteristic of every bifurcating family, which approaches its focal point, infinite loops, one inside the other, surrounding the unstable triangular points L₄ or L₅ are formed on their orbits. So, each terminating point corresponds to an asymptotic non-symmetric periodic orbit that spirals into the corotation points L₄, L₅ with infinite period. This is a new mechanism that produces very large degree of stochasticity. These conclusions help us to comprehend better the motions around the points L₄ and L₅ of Lagrange.     

Spiral Structures and Chaotic Scattering of Coorbital Satellites

The fractal nature of the transitions between two sets of orbits separated by heteroclinic or homoclinic orbits is well known. We analyze in detail this phenomenon in Hill's problem where one set of orbits corresponds to coorbital satellites exchanging semi-major axis after close encounter (horse-shoe orbits) and the other corresponds to orbits which do not exchange semi-major axis (passing-by orbits). With the help of a normalized approximation of the vicinity of unstable periodic orbits, we show that the fractal structure is intimately tied to a special spiral structure of the Poincaré maps. We show that each basin is composed of a few well behaved areas and of an infinity of intertwined tongues and subtongues winding around them. This behaviour is generic and is likely to be present in large classes of chaotic scattering problems.This revised version was published online in October 2005 with corrections to the Cover Date.     

Planar periodic orbits in exterior resonances with Neptune

In the framework of the planar restricted three-body problem we study a considerable number of resonances associated to the basic dynamical features of Kuiper belt and located between 30 and 48 a.u. Our study is based on the computation of resonant periodic orbits and their stability. Stable periodic orbits are surrounded by regular librations in phase space and in such domains the capture of trans-Neptunian object is possible. All the periodic orbits found are symmetric and there is an indication of the existence of asymmetric ones only in a few cases. In the present work first, second and third order resonances are under consideration. In the planar circular case we found that most of the periodic orbits are stable. The families of periodic orbits are temporarily interrupted by collisions but they continue up to relatively large values of the Jacobi constant and highly eccentric regular motion exists for all cases. In the elliptic problem and for a particular eccentricity value of the primary bodies, the periodic orbits are isolated. The corresponding families, where they belong to, bifurcate from specific periodic orbits of the circular problem and seem to continue up to the rectilinear problem. Both stable and unstable orbits are obtained for each case. In the elliptic problem, the unstable orbits found are associated with narrow chaotic domains in phase space. The evolution of the orbits, which are located in such chaotic domains, seems to be practically regular and bounded for long time intervals.     

Escapes and Recurrence in a Simple Hamiltonian System

Many physical systems can be modeled as scattering problems. For example, the motions of stars escaping from a galaxy can be described using a potential with two or more escape routes. Each escape route is crossed by an unstable Lyapunov orbit. The region between the two Lyapunov orbits is where the particle interacts with the system. We study a simple dynamical system with escapes using a suitably selected surface of section. The surface of section is partitioned in different escape regions which are defined by the intersections of the asymptotic manifolds of the Lyapunov orbits with the surface of section. The asymptotic curves of the other unstable periodic orbits form spirals around various escape regions. These manifolds, together with the manifolds of the Lyapunov orbits, govern the transport between different parts of the phase space. We study in detail the form of the asymptotic manifolds of a central unstable periodic orbit, the form of the escape regions and the infinite spirals of the asymptotic manifolds around the escape regions. We compute the escape rate for different values of the energy. In particular, we give the percentage of orbits that escape after a finite number of iterations. In a system with escapes one cannot define a Poincaré recurrence time, because the available phase space is infinite. However, for certain domains inside the lobes of the asymptotic manifolds there is a finite minimum recurrence time. We find the minimum recurrence time as a function of the energy.This revised version was published online in October 2005 with corrections to the Cover Date.     

Exploiting Unstable Periodic Orbits of a Chaotic Invariant Set for Spacecraft Control

The purpose of this work is to show that chaos control techniques (OGY, in special) can be used to efficiently keep a spacecraft around another body performing elaborate orbits. We consider a satellite and a spacecraft moving initially in coplanar and circular orbits, with slightly different radii, around a heavy central planet. The spacecraft, which is the inner body, has a slightly larger angular velocity than the satellite so that, after some time, they eventually go to a situation in which the distance between them becomes sufficiently small, so that they start to interact with one another. This situation is called as an encounter. In previous work we have shown that this scenario is a typical situation of a chaotic scattering for some well-defined range of parameters. Considering this scenario, we first show how it is possible to find the unstable periodic orbits that are located in the chaotic invariant set. From the set of unstable periodic orbits, we select the ones that can be combined to provide the desired elaborate orbit. Then, chaos control technique based on the OGY method is used to keep the spacecraft in the desired orbit. Finally, we analyze the results and make considerations regarding a realistic scenario of space exploration.     

Distribution of periodic orbits and the homoclinic tangle

We study the distribution of regular and irregular periodic orbits on a Poincaré surface of section of a simple Hamiltonian system of 2 degrees of freedom. We explain the appearance of many lines of periodic orbits that form Farey trees. There are also lines that are very close to the asymptotic curves of the unstable periodic orbits. Some regular orbits, sometimes stable, are found inside the homoclinic tangle. We explain this phenomenon, which shows that the homoclinic tangle does not cover the whole area around an unstable orbit, but has gaps. Inside the lobes only irregular orbits appear, and some of them are stable. We conjecture that the opposite is also true, i.e. all irregular orbits are inside lobes.