Poisson brackets for the dynamically coupled system of a free boundary and a neutrally buoyant rigid body in a body-fixed frame
PDEs in connection with fluid mechanics (35Q35) General theory of finite-dimensional Hamiltonian and Lagrangian systems, Hamiltonian and Lagrangian structures, symmetries, invariants (37J06) General theory of infinite-dimensional Hamiltonian and Lagrangian systems, Hamiltonian and Lagrangian structures, symmetries, conservation laws (37K06) Poisson manifolds; Poisson groupoids and algebroids (53D17) Fluid-solid interactions (including aero- and hydro-elasticity, porosity, etc.) (74F10) Free-surface potential flows for incompressible inviscid fluids (76B07)
The aim of this paper is to consider the fully coupled dynamic interaction problem of the free surface of an incompressible fluid and a rigid body beneath it, in an inviscid, irrotational framework and in the absence of surface tension. The evolution equations of the global momenta of the body fluid system are derived. It is then shown that, under fairly general assumptions, these evolution equations combined with the evolution equation of the free-surface is a Hamiltonian system. In this paper, the emphasis is on the coupled system referred to a body-fixed frame and on the Poisson bracket structure. The Poisson brackets are presented for the case when the body is completely beneath the free surface and surface tension is ignored. It is shown that the brackets are the sum of the Zakharov bracket written in a body-fixed frame, and the non-canonical Lie-Poisson bracket (see [\textit{J. E. Marsden} and \textit{T. S. Ratiu}, Introduction to mechanics and symmetry. A basic exposition of classical mechanical systems. 2nd ed. New York, NY: Springer (1999; Zbl 0933.70003)]). This paper is organized as follows. Section 1 is an introduction to the subject. In Section 2, the setup of the physical problem and some assumptions made are described. The fluid domain has a flat bottom stationary boundary that extends to infinity in all horizontal directions. In Section 3, the evolution equations for the combined momenta of the system are presented. First these are derived in a spatially-fixed frame, following a traditional momentum balance analysis, without any assumptions on the buoyancy of the rigid body. As one would expect, the spatial momenta are not conserved. Conservation is obtained by moving the bottom boundary to infinity and assuming neutral buoyancy. The momentum equations are then transformed to a body-fixed frame. The details of the momentum balance analysis are relegated to Appendices A and B. Section 4 is the main section of the paper in which the variables in the body fixed frame are presented, and it is shown how the variations can be performed consistently with a mixed Neumann-Dirichlet boundary-value problem. The equations of the system are derived and shown to be Hamiltonian with respect to the brackets above. Section 5 deals with some summary and future directions for research. The paper is supported by two appendices: Appendix A deals with global momentum evolution equations in a spatially fixed frame and Appendix B with global momentum evolution equations in a body-fixed frame.
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