Joris Vankerschaver - The Motion of Solid Bodies in Perfect Fluids: A Geometric Outlook

The Motion of Solid Bodies in Perfect Fluids:
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.
Unfortunately, the Euler equations are for all practical purposes

intractable:
u
t
+u u = p,
plus boundary conditions.
Luckily, we can identify large-scale structures in the ow or make

simplifying assumptions and use those as elementary building blocks
to construct a faithful approximation.
Potential ow, point vortices, . . .

Joint work with Eva Kanso (University of Southern California) and Jerrold E.
Marsden (Caltech).
Introduction & Motivation Why geometry?
Geometric methods in uid mechanics
Secret motivation behind this talk: the use of geometry in uid

mechanics is just too elegant to ignore.
Example: Euler equations (Euler, 1740): geodesic ow on the group

of volume-preserving dieomorphisms (Arnold, 1966).
Case in point: circulation
Circulation around a rigid body: measures how many times uid

goes round the body.
Kutta-Joukowski theorem:
An airfoil in an airstream with velocity Ve
i
and cir-
culation experiences a lift force F = Ve
i
.
F
V
(Partially) Explanation of why aircraft y.

Underlying geometry: The KJ force is the gy-
roscopic force generated by the curvature of
the Neumann connection.
Buzzwords for now, will be explained later!
Introduction & Motivation
Why geometry?
Point vortices interacting with a rigid body
Elements of uid dynamics
Potential ow
Vorticity
Reduction by stages
Toy example: charged magnetic particles
Particle relabeling symmetry
The Neumann connection
Euclidian symmetry
Example: circulation
Conclusions & open questions
Our model
We will study the dynamics of a circular, rigid body interacting with

N point vortices with strength
i
;
Fluid: inviscid and incompressible.
Point vortex ow: superposition of elementary quanta of rotation in

the ow. Flow eld of a single point vortex:
History of solid-vortex interactions
Motion of solids in potential ow: Kirchho (1877); dynamics of

point vortices in a bounded domain: Lin (1941).
By contrast: motion of solids interacting with vortices: Shashikanth,

Marsden, Burdick, Kelly (2002), Borisov, Mamaev, Ramodanov
(2003).
Both groups came up with an (ad-hoc) Hamiltonian description on

se(2)
R
2N
:
SMBK BMR
Poisson bracket canonical modied
Hamiltonian interaction-type kinetic energy.
Dierent descriptions of the dynamics
BMR SMBK
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;
The interaction between solids and point vortices is due to the

curvature of a certain hydrodynamical connection.
In the process, some interesting facts arise:
The system is fundamentally similar to the geometric description of a

charged particle in a magnetic eld;
The Kutta-Joukowski force on an airfoil is a gyroscopic force due to

curvature.
Elements of uid dynamics Potential ow
Potential Flow
If u(x, t) is the uid velocity, then the vorticity is dened as

= u.
Basic assumption: = 0 (potential ow). Hence, u = . In other

words, u is perpendicular to the level sets of a global function .
This assumption is somewhat articial. Richard Feynman referred to

potential ow as dry water. Nevertheless very good in some cases.
Elements of uid dynamics Vorticity
Vorticity in two dimensions
Vorticity measures rotation: a paddle-wheel at x will rotate with

angular velocity (x, t). Hence: rotation = no potential ow.
Point vortices: singular distributions of vorticity: (x) = (x x

0
).
Point vortices keep their structure and are nite-dimensional ow

structures characterized by their strength and location x
0
.
Elements of uid dynamics Vorticity
Viscosity
Big whirls have little whirls that feed on their velocity, and little whirls have lesser
whirls and so on to viscosity. Lewis Fry Richardson (1920)
Viscosity term in the Navier-Stokes equations:

u
t
+u u = p
2
u.
Here, we put = 0: no decay of vorticity. Conservation law in two

dimensions:
t
+u = 0.
Vorticity is advected with the ow.
Kelvins theorem:
d
dt
= 0, where
=
_
C
u dl =
_
S
ndS
Reduction by stages
Rigid bodies interacting with point vortices
We will study the dynamics of a circular, rigid body interacting with

N point vortices with strength
i
;
Fluid: 2D, inviscid;
General body shapes can be treated with conformal mapping

techniques.
x
(x
0
, y
0
)
X
y
Y
Reduction by stages
Outline of the method
Consider the motion of a uid and a rigid body as geodesic motion on

Emb(T
0
, R
2
) SE(2)
with respect to the kinetic energy metric (Arnold).
Do symplectic reduction with respect to the particle relabeling group;

this imposes the condition that the vorticity is given by N point
vortices.
Lamb (1896), 144
To some writers the matter has presented itself as a much simpler one. The
problems are brought at one stroke under the sway of the ordinary formula of
Dynamics by the imagined introduction of an innite number of ignored
co-ordinates, which would specify the conguration of the various particles of the
uid. The corresponding components of momentum are assumed all to vanish,
with the exception (in the case of a cyclic region) of those which are represented
by the circulations through the several apertures.
Reduction by stages Toy example: charged magnetic particles
Toy example: a charged particle in a magnetic eld
The motion of a charged particle of mass m and charge e in a magnetic
eld B = dA can be determined in two equivalent ways:
Through the minimal coupling Hamiltonian

H =
1
2m
|p eA|
2
;
By using the kinetic energy H = |p|

2
/2m and the magnetic
symplectic form:
B
=
can
+ eB.
Surprisingly, the relation between both has an exact analogue in the
interaction of solids and vortices!
Reconciling both points of view: the Kaluza-Klein approach
Kaluza-Klein: the trajectories of the charged particle are geodesics on

Q = M U(1).
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
_
.
Kinetic energy Hamiltonian:

H =
1
2m
|p pA|
2
+
p
2
2
.
Symplectic reduction recovers the minimal coupling picture
Starting point: U(1) acts on Q and leaves the Hamiltonian invariant.
Momentum map:
J : T
Q R, J(x, , p, p) = p.
Reduced spaces: for e R, we have J

1
(e) = (x, , p, e) and
J
1
(e)/U(1) = (x, p) = T
M,
with the canonical symplectic form.
The Hamiltonian on Q drops to T
M:
H =
1
2m
|p eA|
2
.
Conclusion: symplectic reduction yields the minimal coupling picture.
Shifting the symplectic form
What if we would like to work in the modied symplectic picture?
Dene a shift map : T
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.
The geometry behind all this: connections and curvature
Dene the forms
/ = A + d and B = d/.
/ is a U(1)-connection on Q.
The curvature B is equal to the magnetic eld B.

Hamiltons equations for the modied symplectic form
B
:
i
X
B
= dH i
X
can
= dH ei
X
B
The Lorentz force ei
X
B is a gyroscopic force, due to the curvature B.
Relation with the uid-solid problem
Magnetic terms Minimal coupling
Symplectic form curvature canonical
Hamiltonian canonical connection form.
For the solid-uid system, G will be the group Di

vol
of
volume-preserving dieomorphisms. The magnetic picture will
correspond to Borisov et al. and the minimal coupling picture to
Shashikanth et al.
The analogue of the Lorentz force will be the Kutta-Joukowski force

on a rigid body with circulation.
Dictionary
Charged particle Fluid-solid problem
U(1) Di
vol
charge e vorticity
vector potential A connection form /
magnetic eld B magnetic two-form
Lorentz force Kutta-Joukowski force

Minimal coupling BMR equations
Modied symplectic picture SMBK equations
Reduction by stages Particle relabeling symmetry
The uid-solid conguration space
We label each uid particle by its initial location, and track its motion as a
function of time. If the initial label space is denoted by T
0
, then the
conguration space is hence
Emb(T
0
, R
2
) SE(2),
with the following conditions:
for Emb(T
0
, R
2
), we have
d
2
x = d
2
x
F
0
(volume preservation);
The image of together with the rigid body lls up R

2
(no
cavitation/interpenetration, slip boundary condition).
(, g)
x
y
y
x
The tangent space to Emb(T
0
, R
2
) SE(2)
Consider an element (, g) Emb(T
0
, R
2
) SE(2). How can we describe
the tangent space T
(,g)
(Emb(T
0
, R
2
) SE(2))?
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 .
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 system describes a geodesic on Emb(T

0
, R
2
) SE(2) with
respect to the kinetic-energy metric.
This is valid for arbitrary distributions of vorticity.
To bring in point vortices: symplectic reduction.

Particle relabeling symmetry
The physics is indierent to the way in which we label the individual

uid particles.
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.
The projection : Emb(T

0
, R
2
) SE(2) SE(2) is a principal ber
bundle with structure group Di
vol
.
Interlude: bundles and connections
Let G be a group acting on a manifold Q so that Q/G is again a

manifold. Then : Q Q/G is termed a principal ber bundle with
structure group G.
A connection on Q is one of the following:

1. A G-equivariant one-form / : TQ g
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.
Reduction by stages The Neumann connection
What happens if we move the rigid body?
For each innitesimal motion (g, g) TSE(2) of the rigid body,

consider the vector eld , where solves
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).
Example: unit speed motion in x-direction.

= R
X
X
2
+ Y
2
Making this rigourous: the Neumann connection
For all (, g), dene a horizontal lift mapping

h
(,g)
: (g, g) ,
Dene H(, g) = Imh

(,g)
; this is a principal ber bundle connection
called the Neumann connection.
The connection form / is given by the Helmholtz-Hodge

decomposition:
/(, g, , g) =
u
V
X
vol
,
where u = +u
V
.
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 uid particles to return to their original locations:

geometric phase due to curvature of the Neumann connection.
Classically known as Darwin drift (1953).

Interlude: geometric phases
Use the connection to lift closed path (t) in

Q/G to a path
H
(t) in Q.
Failure of
H
(t) to close: geometric phase.
Ambrose-Singer: innitesimal geometric

phases are generated by the curvature B.
No curvature = no geometric phase.

Appearance in general relativity (parallel transport), quantum mechanics
(Berrys phase, holonomic quantum computing), integrable systems
(Hannays angles), classical mechanics (falling cat, Foucault pendulum),
etc.
The Lie algebra of Di
vol
. . .
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.
. . . and its dual X
vol
An naive candidate for X
vol
is
1
(T
0
), with pairing
, X) =
_
F
0
(X) d
2
x.
However, this pairing is degenerate: for all X X

vol
,
df , X) =
_
F
0
df (X) d
2
x =
_
F
0
f X ndl
_
F
0
f X d
2
x = 0.
Hence, the right dual is given by

X
vol
=

1
(T
0
)
d
0
(T
0
)
= d
1
(T
0
),
where the last isomorphism is given by [] d.
The momentum map associated to Di
vol
: vorticity
The particle relabeling symmetry induces a momentum map

J : T(Emb(T
0
, R
2
) SE(2)) X
vol
given by (recall that u =
1
)
J(, g; , g) = d(
).
In classical notation, this becomes J =
(u); the vorticity of the

uid in the reference conguration is the momentum map associated
to the the particle relabeling symmetry.
Symplectic reduction with respect to Di
vol
: introducing
point vortices
Form the quotient J

1
()/G
. If is a regular value, then this is a

manifold with a reduced symplectic form
characterized by
In the context of uid dynamics, working on a level set J

1
() means
making an assumption about the vorticity of the system.
Here: N point vortices of strength

i
, i = 1, . . . , N:
=
N
i =1
i
(x x
i
)dx dy
What does J
1
()/G
look like?
Special case: cotangent bundle reduction
The reduced symplectic manifold is related to

J
1
()/G
(Q/G)
Q/G
Q/G
;
the dieomorphism depends on the choice of /.
The reduced symplectic form is given by
=
can

where
is a magnetic 2-form on Q/G
given by
Q,G
= d, /).
Using the Cartan structure formula

d/ = B [/, /],
we can relate
to the curvature B.
Cotangent bundle reduction: point vortices
The isotropy group Di

vol,
consists of all dieomorphisms preserving
:
= .
For point vortices, Di

vol,
i
(x
i
) = x
i
(for i = 1, . . . , N).
The quotient space Q/G
is in this case
(Emb(T
0
, R
2
) SE(2))/Di
vol,
= R
2N
SE(2).
The reduced cotangent bundle is hence

T
(Q/G)
Q/G
Q/G
= T
(SE(2)) R
2N
;
product of a cotangent bundle and a co-adjoint orbit.
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
)
_
.
Second term: encodes the vortex-rigid body interaction.

N
i =1

i
dx(v
i
, w
i
) is the Konstant-Kirillov-Souriau form on the
co-adjoint orbit R
2N
.
The stream functions

A
are harmonic conjugates to
A
(elementary
velocity potentials corresponding to the
A
-direction in SE(2)).
Reduction by stages Euclidian symmetry
Reduction with respect to SE(2) yields the BMR Poisson
structure
The rigid body and point vortices are invariant under the action of SE(2)
on T
SE(2) R
2N
. Factoring out this symmetry boils down to rewriting
the equations of motion in body coordinates.
Do Poisson reduction to reduce the magnetic symplectic structure on

T
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 ,
In coordinates, this yields precisely the BMR Poisson structure.

Reduction by stages Euclidian symmetry
The momentum map provides the link with the SMBK
Poisson structure
Let
X(SE(2) R
2N
) be the innitesimal generator corresponding to
se(2)
. Dene the Bg-potential : SE(2) R

2N
se(2)
by
i
= d, ).
Looks like a momentum map, but for the magnetic two-form
Induces a shift map o : se(2)
R
2N
se(2)
R
2N
, with
o(, x) = ( (e, x), x).
This is a Poisson map:

f o, g o
BMR
= f , g
SMBK
o.
Example: circulation
Rigid body with circulation
Circulation: realized by having a point vortex at the center of mass.
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
.
The resulting dynamics describes the motion of a rigid body under

the inuence of a gyroscopic force due to the curvature term. This is
the familiar Kutta-Joukowski force, similar to the Lorentz force.
_
_
_
= 0
P
x
= P
y
/I P
y
/m
P
y
= P
x
/I + P
x
/m,
F
V

Conclusions
Geometric reduction yields the equations of motion for a rigid body
interacting with point vortices.
Symplectic reduction wrt to Di

vol
brings in the vorticity;
The momentum map associated to the residual SE(2) action gives a

shift map between BMR and SMBK.
Classical uid dynamical eects have a geometric interpretation.
The Kutta-Joukowski force;
Analogy with magnetodynamics.

Open questions
This is probably only the tip of the iceberg. . .
General distributions of vorticity: do reduction at a dierent value

of J.
Controllability of a uid through rigid body motions. Stirring?
Geometric integrators for uid-solid interactions. Find a discrete

analogue of this procedure of reduction by stages.
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.
References
V. I. Arnold and B. A. Khesin, Topological methods in

hydrodynamics, Applied Mathematical Sciences, vol. 125,
Springer-Verlag, New York, 1998.
B. N. Shashikanth, J. E. Marsden, J. W. Burdick, and S. D. Kelly,

The Hamiltonian structure of a two-dimensional rigid circular cylinder
interacting dynamically with N point vortices, Phys. Fluids 14
(2002), no. 3, 12141227.
A. V. Borisov, I. S. Mamaev, and S. M. Ramodanov, Motion of a

circular cylinder and n point vortices in a perfect uid, Regul. Chaotic
Dyn. 8 (2003), no. 4, 449462.
J. Vankerschaver, E. Kanso, and J. Marsden, The Geometry and

Dynamics of Interacting Rigid Bodies and Point Vortices, Submitted
to J. Geom. Mech., 2008.

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The Motion of Solid Bodies in Perfect Fluids:

Unfortunately, the Euler equations are for all practical purposes

Luckily, we can identify large-scale structures in the ow or make

Potential ow, point vortices, . . .

Secret motivation behind this talk: the use of geometry in uid

Example: Euler equations (Euler, 1740): geodesic ow on the group

Circulation around a rigid body: measures how many times uid

(Partially) Explanation of why aircraft y.

We will study the dynamics of a circular, rigid body interacting with

Fluid: inviscid and incompressible.

Point vortex ow: superposition of elementary quanta of rotation in

Motion of solids in potential ow: Kirchho (1877); dynamics of

By contrast: motion of solids interacting with vortices: Shashikanth,

Both groups came up with an (ad-hoc) Hamiltonian description on

The interaction between solids and point vortices is due to the

The system is fundamentally similar to the geometric description of a

The Kutta-Joukowski force on an airfoil is a gyroscopic force due to

If u(x, t) is the uid velocity, then the vorticity is dened as

Basic assumption: = 0 (potential ow). Hence, u = . In other

This assumption is somewhat articial. Richard Feynman referred to

Vorticity measures rotation: a paddle-wheel at x will rotate with

Point vortices: singular distributions of vorticity: (x) = (x x

Point vortices keep their structure and are nite-dimensional ow

Viscosity term in the Navier-Stokes equations:

Here, we put = 0: no decay of vorticity. Conservation law in two

We will study the dynamics of a circular, rigid body interacting with

Fluid: 2D, inviscid;

General body shapes can be treated with conformal mapping

Consider the motion of a uid and a rigid body as geodesic motion on

Do symplectic reduction with respect to the particle relabeling group;

Through the minimal coupling Hamiltonian

By using the kinetic energy H = |p|

Kaluza-Klein: the trajectories of the charged particle are geodesics on

Kinetic energy Hamiltonian:

Reduced spaces: for e R, we have J

The Hamiltonian on Q drops to T

Dene a shift map : T

The curvature B is equal to the magnetic eld B.

For the solid-uid system, G will be the group Di

The analogue of the Lorentz force will be the Kutta-Joukowski force

Lorentz force Kutta-Joukowski force

The image of together with the rigid body lls up R

The system describes a geodesic on Emb(T

This is valid for arbitrary distributions of vorticity.

To bring in point vortices: symplectic reduction.

The physics is indierent to the way in which we label the individual

The projection : Emb(T

Let G be a group acting on a manifold Q so that Q/G is again a

A connection on Q is one of the following:

For each innitesimal motion (g, g) TSE(2) of the rigid body,

Example: unit speed motion in x-direction.

For all (, g), dene a horizontal lift mapping

Dene H(, g) = Imh

The connection form / is given by the Helmholtz-Hodge

Failure of uid particles to return to their original locations:

Classically known as Darwin drift (1953).

Use the connection to lift closed path (t) in

Ambrose-Singer: innitesimal geometric

No curvature = no geometric phase.

An naive candidate for X

However, this pairing is degenerate: for all X X

Hence, the right dual is given by