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dc.contributor.advisorPatrick, George W.en_US
dc.creatorFomenko, Natalia Pavlovnaen_US
dc.date.accessioned2005-05-17T10:38:52Zen_US
dc.date.accessioned2013-01-04T04:30:58Z
dc.date.available2005-05-18T08:00:00Zen_US
dc.date.available2013-01-04T04:30:58Z
dc.date.created2005-05en_US
dc.date.issued2005-05-13en_US
dc.date.submittedMay 2005en_US
dc.identifier.urihttp://hdl.handle.net/10388/etd-05172005-103852en_US
dc.description.abstractThe dynamics of a single underwater vehicle in an ideal irrotational fluid may be modeled by a Lagrangian system with configuration space the Euclidean group. If hydrodynamic coupling is ignored then two coupled vehicles may be modeled by the direct product of two single-vehicle systems. We consider this system in the case that the vehicles are coupled mechanically, with an ideal spherically symmetric joint, finding all of the relative equilibria. We demonstrate that there are relative equilibria in certain novel momentum-generator regimes identified by Patrick et.al. "Stability of Poisson equilibria and Hamiltonian relative equilibria by energy methods", Arch. Rational Mech. Anal., 174:301--344, 2004.en_US
dc.language.isoen_USen_US
dc.subjectrelative equilibriaen_US
dc.subjecthamiltonian system with symmetryen_US
dc.subjectKirchoff equationsen_US
dc.titleRelative equilibria of coupled underwater vehiclesen_US
thesis.degree.departmentMathematics and Statisticsen_US
thesis.degree.disciplineMathematics and Statisticsen_US
thesis.degree.grantorUniversity of Saskatchewanen_US
thesis.degree.levelMastersen_US
thesis.degree.nameMaster of Science (M.Sc.)en_US
dc.type.materialtexten_US
dc.type.genreThesisen_US
dc.contributor.committeeMemberSoteros, Chrisen_US
dc.contributor.committeeMemberRangacharyulu, Chilakamarri (Chary)en_US
dc.contributor.committeeMemberMartin, John R.en_US
dc.contributor.committeeMemberSzmigielski, Jaceken_US


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