Numerical tools

Numerical tools for the computation of

homoclinic/heteroclinic orbits
E. Barrabs
1
J.M. Mondelo
2
M. Oll
3
1
Dept. Informtica i Matemtica Aplicada
Universitat de Girona
2
Dept. de Matemtiques
Universitat Autnoma de Barcelona
3
Dept. de Matemtica Aplicada I
Universitat Politcnica de Catalunya
New trends in astrodynamics and applications, Milan, June 30, July 1, 2,
2008
Numerical tools
Outline

Context: the RTBP and the collinear points, motivation and applications

Computation of objects: periodic orbits (PO), their invariant manifolds

Homoclinic connections of PO: detection and continuation of families

Some results
Numerical tools
Libration Point orbits
The spatial, circular RTBP
General framework. The RTBP
r
2
r
1
3
m = 0
m =
2

m = 1
1

P =( 1, 0, 0)
2
L
2
L
1
L
3
P =(x,y,z)
O

1
P =( , 0, 0)
y
z
x
Differential equations of the
Spatial Circular RTBP:
x = p
x
+ y, p
x
= H/x,
y = p
y
x, p
y
= H/y,
z = p
z
, p
z
= H/z,
Mass ratio: =
m
2
m
1
+ m
2
.
Hamiltonian:
H(x, y, z, p
z
, p
y
, p
z
) =
1
2
(p
2
x
+ p
2
y
+ p
2
z
) xp
y
+ yp
x

1
r
1

r
2
with r
1
=
_
(x )
2
+ y
2
+ z
2
, r
2
=
_
(x + 1)
2
+ y
2
+ z
2
.
Jacobi constant:
C = 2H + (1 )
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Collinear Libration Points
The linear behavior near the collinear equilibrium points is of the type
H
2
= x
1
y
1
+

p
2
(x
2
2
+ y
2
2
) +

v
2
(x
2
3
+ y
2
3
),
Linear: saddle center center

Non-linear: planar p.o. vertical p.o.
. .
Cantor set of 2D tori
The saddle component makes direct numerical simulations problematic.
y
0
1
y
0
2
y
0
3
y
0
4
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
Planar and vertical Lyapunov orbits
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-0.825
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0
0.02
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0.06
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
From vertical to planar: Lissajous orbits
-0.855
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-0.835
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-0.825
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-0.015
0
0.015
0.03
0.045
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-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
From vertical to planar: Lissajous orbits
-0.855
-0.85
-0.845
-0.84
-0.835
-0.83
-0.825
-0.045
-0.03
-0.015
0
0.015
0.03
0.045
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
From vertical to planar: Lissajous orbits
-0.855
-0.85
-0.845
-0.84
-0.835
-0.83
-0.825
-0.045
-0.03
-0.015
0
0.015
0.03
0.045
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
From vertical to planar: Lissajous orbits
-0.855
-0.85
-0.845
-0.84
-0.835
-0.83
-0.825
-0.045
-0.03
-0.015
0
0.015
0.03
0.045
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
From vertical to planar: Lissajous orbits
-0.855
-0.85
-0.845
-0.84
-0.835
-0.83
-0.825
-0.045
-0.03
-0.015
0
0.015
0.03
0.045
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Libration point orbits
From vertical to planar: Lissajous orbits
-0.855
-0.85
-0.845
-0.84
-0.835
-0.83
-0.825
-0.045
-0.03
-0.015
0
0.015
0.03
0.045
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
z
x y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Invariant manifolds associated with LPO
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-1
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0
0.02
0.04
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0.08
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0
0.005
0.01
0.015
0.02
0.025
z
x
y
z
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Invariant objects around L
i
, i = 1, 2, 3:

equilibrium points

planar and vertical Lyapunov orbits

invariant tori

invariant manifolds

homoclinic and heteroclinic orbits, i.e. double asymptotic orbits

Numerical tools
Libration Point orbits
The spatial, circular RTBP
Motivation: Applications of L
1
and L
2
Mission analysis:

Construct new spacecraft trajectories (low cost).

The orbit of comet Oterma in the Sun-Jupiter rotating system follows

closely the invariant manifolds of L
1
and L
2
.

Using Conley-McGehee tubes, homoclinic orbits allow to prescribe

itineraries between the interior and exterior regions of a moon-planet
system.

Petit Grand Tour for the moons of Jupiter.

Genesis discovery mission.

Numerical tools
Libration Point orbits
The spatial, circular RTBP
Interest in L
3
L
3
is responsible for horseshoe motion
-1.5
-1
-0.5
0
0.5
1
1.5
-1.5 -1 -0.5 0 0.5 1 1.5
It is observed in:

Janus and Epimetheus, coorbitals of Saturn, (Llibre & O, A & A 2001).

Some near Earth Asteriods: 2002 AA29

Numerical tools
Libration Point orbits
The spatial, circular RTBP
Ambitious goal: Description (as global as possible) of a neighborhood (as
large as possible) of the collinear points including homoclinic and
heteroclinic phenomena.
Particular goal: computation and continuation of homoclinic connections of
LPO around L
i
, i = 1, 2, 3 for the planar RTBP.

Semi-analytical procedures.

Numerical methodology
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Homoclinic and heteroclinic connections of LPO
Semi-analytical procedures: normal forms and Lindstedt Poincar
expansions.

Advantage: high order approximation of the invariant objects.

Drawback: only for L

1
and L
2
. Developments are useful for small
values of the energy.
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Some papers:

Comet transition (Belbruno & Marsden, Astron J. 1997, Lo and Ross,

JPL IOM 1997)

Existence of heteroclinic connections between orbits around L

1
and L
2
in the planar RTBP (Koon et al, Chaos J. 2000)

Study of homo and heteroclinic connections between planar Lyapunov

p.o. in the planar RTBP (Canalias & Masdemont, DCDS 2006)

Several individual homo and heteroclinic connections between lissajous

and/or quasihalo orbits in the spatial RTBP (Gmez et al.
Nonlinearity, 2004).
Numerical tools
Libration Point orbits
The spatial, circular RTBP
Numerical approach
Direct computation of

Poincar sections:

periodic orbits (step 1)

invariant manifolds (step 2)

W
u/s

j
detection of homoclinic orbits (step 3)

Continuation of families of homoclinic orbits (step 4)

Tools valid for any L
i
, i = 1, 2, 3 and able to reach higher values of the
energy
Numerical tools
Computation of objects
Periodic orbits
1. Periodic orbits. The system of equations
Let

{g(x) = 0} dene the Poincar

section

H be the Hamiltonian of the RTBP

T
its timeT ow.
p.o.
x
Poincare sect.
Unknowns:
h, T, x, y, z, p
x
, p
y
, p
z
. .
=:x
Equations:
H(x) = h
g(x) = 0

T
(x) = x
_
_
_

Fix h: the solution is a point (i.c. of the p.o. in the Poincar section).

Let h free: the solution is the curve of i.c. on the fam. of p.o.
Numerical tools
Computation of objects
Periodic orbits
Multiple shooting
High instability can be coped with using multiple shooting: search for
several i.c. in the p.o. in order to reduce integration time.
Unknowns:
h, T, x
0
, x
1
, . . . , x
m1
Equations:
_

_
H(x
0
) = h
g(x
0
) = 0

T/m
(x
0
) = x
1

T/m
(x
1
) = x
2
.
.
.

T/m
(x
m1
) = x
0
Numerical tools
Computation of objects
Periodic orbits
2., 3., 4. Homoclinics
General procedure:

X invariant hyperbolic object, W

u/s
(X) invariant manifolds (two
branches)

xed section

W
u/s
(X)
k

homoclinic orbit
_
W
u

i
_

_
W
u

j
_

X
W
u
W
s
Numerical tools
Computation of objects
Homoclinic connections of L
i
, i = 1, 2, 3
Example. Homoclinic orbits connecting collinear points

invariant manifolds are 1 dimensional

exploration varying
-1.5
-1
-0.5
0
0.5
1
1.5
-1.5 -1 -0.5 0 0.5 1 1.5
-3
-2
-1
0
1
2
3
-3 -2 -1 0 1 2 3
= 0.0010015432 = 0.012143988024852
= {x = 1/2}, L
3
Numerical tools
Computation of objects
Homoclinic orbits to Lyapunov orbits
2. Invariant manifolds of planar Lyapunov orbits

invariant manifolds are 2 dimensional

exploration for a xed value of and energy h

-1
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0
0.5
1
-1 -0.5 0 0.5 1
-1
-0.8
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-0.4
-0.2
0
-1 -0.5 0 0.5 1
h = 1.50041149280247 h = 1.49952788314423
= {x = 1/2},
L
3
, =
SJ
Numerical tools
Computation of objects
Homoclinic orbits to Lyapunov orbits
2. Invariant manifolds of planar Lyapunov orbits

invariant manifolds are 2 dimensional

exploration for a xed value of and energy h

-0.12
-0.1
-0.08
-0.06
-0.04
-0.02
0
0.02
0.04
0.06
0.08
0.1
-1.2 -1.15 -1.1 -1.05 -1 -0.95 -0.9
-6
-4
-2
0
2
4
6
-6 -5 -4 -3 -2 -1 0 1 2 3 4
= {x = 1} = {x = 0}
h = 1.58463932117689 h = 1.57485608553295
L
2
and =
EM
Numerical tools
Computation of objects
Homoclinic orbits to Lyapunov orbits
3. Finding homoclinic orbits. Section curves W
u/s

k

X planar Lyapunov orbit, W

u/s
(X) invariant manifolds

S = W
u/s
(X)
k
is 1 dimensional

H = h is constant S represented in a plane

-0.467
-0.466
-0.465
-0.464
-0.463
-0.462
-0.461
-0.46
-0.459
-0.929 -0.928 -0.927 -0.926 -0.925 -0.924 -0.923
suitable h
= {x = 1/2}, (y, p
y
)-plane, h = 1.500474767
L
3
and =
SJ
Numerical tools
Computation of objects
Homoclinic orbits to Lyapunov orbits
Intersections W
u/s

k
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0
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0
0.2
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h = 1.52753129112358 h = 1.50625846902364
Curves W
u

1
and W
s

2
= {x = 0},(p
x
, p
y
) plane
L
2
and =
EM
Numerical tools
Computation of objects
Homoclinic orbits to Lyapunov orbits
Numerical computation of a section curve
Given (, ) a parametrisation of the inv. manifold
To compute the intersection between the manifold and : {g(x) = 0}, we
need to continue the solution curve of
g((, )) = 0
in (, ).
Numerical tools
Computation of objects
Families of homoclinic orbits: continuation method
4. Families of homoclinic orbits: continuation method

Fixed a p.o. given by an initial condition x

0
, compute a homoclinic
orbit using the variables

u
,
s
, T
u
, T
s
x
0

T
s
T
u

u
Numerical tools
Computation of objects
Families of homoclinic orbits: continuation method
Continuation of a family of homoclinic orbits
Idea: put all the unknowns into the equations

the energy

the periodic orbit and its period

the eigenvalues and eigenvectors

u
,
s

T
u
, T
s
Numerical tools
Computation of objects
Families of homoclinic orbits: continuation method
To nd or to continuate an homoclinic connection of a p.o., we can solve
_

_
H(x) h = 0
g
1
(x) = 0

T
(x) x = 0
v
u

2
1 = 0 v
s

2
1 = 0
D
T
(x)v
u

u
v
u
= 0 D
T
(x)v
s

s
v
s
= 0
g
2
_

T
u
_

u
(
u
,
small
)
_
_
= 0
g
2
_

T
s
_

s
(
s
,
small
)
_
_
= 0

T
u
_

u
(
u
,
small
)
_

T
s
_

s
(
s
,
small
)
_
= 0

+ multiple shooting if necessary

h as a parameter: we nd a family of homoclinic connections

Numerical tools
Results
Homoclinic connections of L.O. around L
3
Connections of Lyapunov orbits around L
3
( =
SJ
)
-1.1
-1.05
-1
-0.95
-0.9
-1.502 -1.499 -1.496 -1.493 -1.49
y
f
h
Hn
1
Hn
2
Examples
Numerical tools
Results
Homoclinic connections to L.O. around L
1
and L
2
Connections to Lyapunov orbits around L
2
( =
EM
)
loops around Moon
-0.2
-0.15
-0.1
-0.05
0
0.05
0.1
0.15
-1.59 -1.58 -1.57 -1.56 -1.55 -1.54 -1.53 -1.52
Hi
1
1
Hi
2
1
Hi
1
2
Hi
3
2
Hi
4
2
Examples
loops around Moon and Earth
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
1.9
2
2.1
-1.56 -1.55 -1.54 -1.53 -1.52 -1.51 -1.5 -1.49 -1.48
Ho
1
1
Ho
2
1
Ho
3
1
Ho
4
1
Ho
5
1
Ho
6
1
Ho
7
1
Ho
8
1
Ho
9
1
Ho
10
1
Ho
11
1
Ho
12
1
Examples
Numerical tools
Results
Summary and Work in progress
Summary
Numerical tools that allow to describe the dynamics related to L
i

parameterizations of invariant manifolds

homoclinic (and heteroclinic) connections

some results obtained

Work in progres

heteroclinic connections between LPO

homoclinic/heteroclinic connections of invariant tori

Numerical tools
Results
References
E. Belbruno & B. Marsden.
Resonance hopping in comets
Astron. J., 1997.
M. Lo & S. Ross.
Surng in the Solar System: invariant manifolds and the dynamics of
the Solar System
JPL IOM 312/97, 2-4, 1997.
M. Lo & S. Ross.
Low energy interplanetary transfers using invariant manifolds of L
1
, L
2
and halo orbits
AAS-AIAA Space ight meeting, Monterey, 1998.
W.S. Koon et al.
Heteroclinic connections between periodic orbits and resonance
transitions in celestial mechanics
Chaos J., 2000.
Numerical tools
Results
References
A. Jorba & J.M. Masdemont.
Dynamics in the center manifold of the collinear points of the restricted
three body problem
Phys. D., 1999.
G. Gmez & J.M. Mondelo.
The dynamics around the collinear equilibrium points of the RTBP
Phys. D., 2001.
G. Gmez el al.
Connecting orbits and invariant manifolds in the spatial restricted
three-body problem
Nonlinearity, 2004.
G. Gmez, M. Marcote, & J.M. Mondelo.
The invariant manifold structure of the spatial Hills problem
Dyn. Syst., 2005.
Numerical tools
Results
References
E. Barrabs & M.Oll.
Invariant manifolds of L
3
and horseshoe motion in the restricted
three-body problem
Nonlinearity, 2006
E. Canalies & J.M. Masdemont.
Homoclinic and heteroclinic transfer trajectories between planar
Lyapunov orbits in the sun-earth and earth-moon systems
Disc. Cont. Dyn. Syst., 2006.
M. Gidea & J.M. Masdemont.
Geometry of homoclinic connections in a planar circular restricted
three-body problem
Int. J. Bif. Chaos, 2006.
E. Barrabs, J.M.M. Mondelo & M. Oll.
Numerical continuation of families of homoclinic connections of
periodic orbits
Preprint, 2008
Numerical tools
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Numerical tools
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0
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0
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0
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0
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Numerical tools
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