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Nonlinear dynamics response of auxetic plates in soft robotic manipulators under combination resonance: frequency response in a magnetic field 组合共振下软机械臂减振板的非线性动力学响应:磁场中的频率响应
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-16 DOI: 10.1007/s00707-025-04509-0
Seyed Hamed Seyed Hosseini, Majid Ghadiri

This paper investigates the nonlinear dynamic response of auxetic thin plates subjected to a combination of resonance while resting on a viscoelastic Pasternak foundation. Auxetic materials, known for their unique negative Poisson’s ratio, exhibit superior mechanical properties. It makes them ideal for applications requiring enhanced energy absorption and vibration resistance, such as soft robotic systems. The study derives the governing equation of motion using classical plate theory, nonlocal elasticity, and external influences, including magnetic fields. To solve these nonlinear equations, analytical methods such as the Galerkin method and the multiple time scale perturbation method are employed. While the primary focus is on combination harmonic excitation, the effects of plate thickness, auxetic and small-scale factors on the nonlinear dynamic response are also examined. Furthermore, advanced nonlinear dynamic analysis tools such as Poincaré sections, phase portraits, and Lyapunov exponent evolution are used to evaluate the system’s stability and chaotic behavior. These methods facilitate an understanding of periodic, quasi-periodic, and chaotic responses. Unlike previous studies, this work focuses on the combined effect of harmonic excitations and magnetic fields on auxetic plates. It analyzes how parameters like plate thickness, auxetic ratio, and small-scale effects influence system behavior. Advanced tools, such as phase portraits and Lyapunov exponents, are used to evaluate stability and chaos. The findings offer new insights into designing auxetic structures for vibration control and stability in smart systems and soft robotic applications.

本文研究了粘弹性帕斯捷尔纳克地基上减薄薄板在共振组合作用下的非线性动力响应。增塑剂材料以其独特的负泊松比而闻名,具有优越的机械性能。这使得它们非常适合需要增强能量吸收和抗振动的应用,如软机器人系统。该研究利用经典板块理论、非局部弹性和包括磁场在内的外部影响导出了运动的控制方程。为了求解这些非线性方程,采用了伽辽金法和多时间尺度摄动法等解析方法。在主要研究组合谐波激励的同时,还研究了板厚、辅助和小尺度因素对非线性动力响应的影响。此外,还采用了poincar剖面、相位肖像和Lyapunov指数演化等先进的非线性动力学分析工具来评估系统的稳定性和混沌行为。这些方法有助于理解周期、准周期和混沌响应。与以往的研究不同,本研究的重点是谐波激励和磁场对缺磁板的综合影响。分析了板厚、补充比、小尺度效应等参数对系统性能的影响。先进的工具,如相位肖像和李亚普诺夫指数,被用来评估稳定性和混沌。这一发现为智能系统和软机器人应用中振动控制和稳定性的增减结构设计提供了新的见解。
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引用次数: 0
Assessment of the second-term asymptotic stresses at the corner of an elastic–plastic bi-material interface under tensile loading 拉伸载荷下弹塑性双材料界面转角的二次渐近应力评估
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-16 DOI: 10.1007/s00707-025-04512-5
Zahra Nasiri, Mahdi Fakoor

Under plane strain conditions, the leading two terms of the asymptotic stress field near the interface corner of two dissimilar nonlinear elastic–plastic materials with differing hardening behavior were formulated. Assuming that the second material has a higher hardening coefficient (n2 > n1), two limiting cases were considered: (1) a rigid case with zero secondary displacement in the second material and (2) a non-rigid case where it equals the first material’s primary displacement. The associated eigenvalues and mixed-mode parameters were then computed for varying angle and hardening levels of the second material. The obtained results exhibited a distinctive characteristic at the angle of 130°, where the mode-mix parameter remains unchanged with varying hardening coefficients. Coefficients for the first two stress terms were determined by minimizing the RMS difference between asymptotic and finite element (FE) stresses under tensile loading. Agreement was assessed across various angles and hardening coefficients. Higher n1 values improved correlation in the first material by reducing mode-mix contrast in two materials. Larger notch angles and greater hardening in the second material increased deviations, requiring additional asymptotic terms for accuracy.

在平面应变条件下,导出了两种硬化性能不同的非线性弹塑性材料界面角附近渐近应力场的前两项。假设第二种材料具有更高的硬化系数(n2 > n1),考虑两种极限情况:(1)第二种材料的刚性情况下,第二种材料的二次位移为零;(2)非刚性情况下,第二种材料的二次位移等于第一种材料的一次位移。然后计算了第二种材料的不同角度和硬化水平的相关特征值和混合模式参数。所得结果在130°角处表现出明显的特征,随着硬化系数的变化,模态混合参数保持不变。前两个应力项的系数是通过最小化拉载荷下渐近和有限元(FE)应力之间的均方根差来确定的。评估了不同角度和硬化系数的一致性。较高的n1值通过降低两种材料的模混合对比度来改善第一种材料的相关性。在第二种材料中,较大的缺口角和较大的硬化增加了偏差,需要额外的渐近项来保证精度。
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引用次数: 0
On an axisymmetric contact problem for a half-space with a variable contact region in the presence of static friction 静摩擦作用下具有可变接触区域的半空间轴对称接触问题
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-15 DOI: 10.1007/s00707-025-04502-7
V. N. Hakobyan, L. L. Dashtoyan, H. A. Amirjanyan, L. V. Hakobyan

This paper discusses axisymmetric contact problems of pressing absolutely rigid stamps in the form of bodies of revolution into a homogeneous elastic half-space with static friction. It is assumed that the contact zone is circular with a radius that is not known in advance. Using rotation operators, the problem solution is reduced to a singular integral equation of the second kind with variable coefficients. Based on the theory of the analytic functions, a closed solution in quadratures is constructed. Some important special cases of the problem are considered. Using numerical calculations, the patterns of change in the radius of the contact zone, contact stresses and rigid displacement of the stamp are determined depending on the maximum value of the friction coefficient.

讨论了绝对刚体形式的公转体压入具有静摩擦的均匀弹性半空间的轴对称接触问题。假定接触区为圆形,其半径事先不知道。利用旋转算子,将问题解化为第二类变系数奇异积分方程。在解析函数理论的基础上,构造了一个求积分的闭解。讨论了该问题的一些重要特例。通过数值计算,根据摩擦系数的最大值确定了接触区半径、接触应力和冲压件刚性位移的变化模式。
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引用次数: 0
Isogeometric dynamic instability analysis of FG graphene nanoplatelets reinforced plates with holes FG石墨烯纳米片补强孔板等几何动力失稳分析
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-14 DOI: 10.1007/s00707-025-04498-0
Xiaoyue Li, Yuyan Fan, Peijun Zhang, Ying Fu, Jing Liu, Huihui Wu

In this work, the isogeometric analysis (IGA) is employed to study the dynamic instability characteristics of functionally graded (FG) multilayer graphene-reinforced composite plate with holes. The laminated nanocomposite plate is subjected to a periodic uniaxial in-plane load. The modified Halpin–Tsai scheme and rule of mixtures are utilized to evaluate the effective material properties of the nanocomposite plate. The third-order shear deformation theory (TSDT) of Reddy is used to describe the displacement field of the plate. Dynamic instability regions of graphene platelets reinforced composite (GPLRC) laminated plates with hole are approximated by applying the IGA and the Bolotin’s method. To demonstrate the capability of the developed formulation in predicting the dynamic instability behavior of GPLRC plates with central holes, several numerical examples are solved and compared with the existing solutions. Then, parametric studies are performed to examine the influences of significant parameters on instability zones of the functionally graded graphene platelet reinforced composite (FG-GPLRC) plates with circular/rectangular holes.

本文采用等几何分析(IGA)方法研究了功能梯度(FG)多孔多层石墨烯增强复合材料板的动态失稳特性。层合纳米复合材料板经受周期性单轴面内载荷。采用改进的Halpin-Tsai格式和混合规则对纳米复合材料板的有效材料性能进行了评价。采用Reddy的三阶剪切变形理论(TSDT)来描述板的位移场。应用IGA和Bolotin方法对带孔的石墨烯薄片增强复合材料(GPLRC)层合板的动态不稳定区域进行了近似计算。为了证明所建立的公式在预测带中心孔的GPLRC板的动力失稳行为方面的能力,对几个数值算例进行了求解,并与已有的解进行了比较。然后,进行了参数研究,考察了重要参数对带圆孔/矩形孔的功能梯度石墨烯血小板增强复合材料(FG-GPLRC)板不稳定区的影响。
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引用次数: 0
Shear wave interaction with cylindrical magneto-electro-elastic structures 剪切波与圆柱磁电弹性结构的相互作用
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-13 DOI: 10.1007/s00707-025-04514-3
Seema, Ganesh V. Radhakrishnan, Abdulkafi Mohammed Saeed, Mohiuddin Ali Khan, Abhinav Singhal, Anjali Chaudhary

The present study develops an extended analytical framework for investigating Love-type wave propagation in multilayered magneto-electro-elastic (MEE) composites while accounting for nanoscale electrical, magnetic, and mechanical interfacial imperfections. The primary purpose is to establish a generalized dispersion relation that unifies classical Love-wave theory with coupled-field effects and imperfect interface conditions. The methodology employs the complex function approach in conjunction with the Helmholtz equation and wavefield superposition theory. Interfacial imperfection factors are introduced via a spring-type boundary model, leading to an infinite system of equations. A systematic truncation procedure ensures convergence of the analytical solution, and numerical simulations are performed to illustrate the influence of imperfections, thickness ratio, and coupling coefficients on dispersion, attenuation, and coupling efficiency. Findings reveal that imperfections significantly suppress phase velocity, with electrical defects producing stronger effects than magnetic ones, while mechanical bonding imperfections accelerate attenuation. Combined imperfections exhibit a synergistic nonlinear influence, producing dispersion shifts more severe than the sum of individual effects. Comparisons between EMO and EMS boundary conditions highlight that stress-driven EMS interfaces are more sensitive to imperfections than displacement-driven EMO boundaries. Additionally, increasing the guiding layer thickness enhances wave confinement, raising phase velocity and partially mitigating defect influence. Validation is achieved by demonstrating that the model naturally reduces to the classical Love-wave solution in the absence of coupling and imperfections, showing excellent agreement with previously published results. The novelty of the work lies in providing the first comprehensive formulation that integrates piezoelectric, piezomagnetic, and imperfection effects within a unified Love-wave framework. Limitations include restriction to anti-plane shear (SH) motion and idealized isotropic elastic half-space substrates, which may be extended in future studies to anisotropic or viscoelastic media. Practical applications include non-destructive evaluation of layered composites, defect detection, fatigue life prediction, energy harvesting, and the design of piezoelectric/piezomagnetic sensors.

本研究开发了一个扩展的分析框架,用于研究多层磁电弹性(MEE)复合材料中love型波的传播,同时考虑纳米级电、磁和机械界面缺陷。主要目的是建立一个将经典Love-wave理论与耦合场效应和不完美界面条件统一起来的广义色散关系。该方法采用复函数方法,结合亥姆霍兹方程和波场叠加理论。通过弹簧型边界模型引入界面缺陷因子,得到一个无限方程组。系统的截断过程确保了解析解的收敛性,并进行了数值模拟,以说明缺陷、厚度比和耦合系数对色散、衰减和耦合效率的影响。研究结果表明,缺陷显著抑制相速度,电缺陷比磁缺陷产生更强的影响,而机械结合缺陷加速衰减。综合缺陷表现出协同非线性影响,产生色散位移比单个效应的总和更严重。EMO和EMS边界条件的比较表明,应力驱动的EMS界面比位移驱动的EMO界面对缺陷更敏感。此外,增加导层厚度可以增强波约束,提高相速度,部分减轻缺陷影响。通过证明该模型在没有耦合和缺陷的情况下自然地简化为经典的Love-wave解,与先前发表的结果非常吻合,从而实现了验证。这项工作的新颖之处在于提供了第一个综合公式,将压电、压磁和缺陷效应集成在一个统一的Love-wave框架内。限制包括反平面剪切(SH)运动和理想化的各向同性弹性半空间基质,这可能在未来的研究中扩展到各向异性或粘弹性介质。实际应用包括层状复合材料的无损评估、缺陷检测、疲劳寿命预测、能量收集和压电/压磁传感器的设计。
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引用次数: 0
Random vibration analysis of pieozoelectric nanobeams using a unified nonlocal shear deformation beam theory 基于统一非局部剪切变形梁理论的压电纳米梁随机振动分析
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-12 DOI: 10.1007/s00707-025-04513-4
Sina Fallahzadeh Rastehkenari, Majid Roshanfar, Amir Molaei, Javad Dargahi, Muthukumaran Packirisamy

This study develops a unified framework to analyze the random vibration of piezoelectric nanobeams on viscoelastic foundations. Using nonlocal elasticity and Hamilton’s principle, governing equations are derived within a unified shear deformation theory that includes Timoshenko, Reddy, sinusoidal, hyperbolic, and exponential models. A frequency response function is formulated for stationary white noise excitation and validated with literature results. Parametric results show that nonlocal effects increase vibration amplitudes, higher-order theories provide greater accuracy than the Timoshenko model, and voltage and temperature amplify responses due to electromechanical and thermal coupling. The framework offers a versatile tool for designing nanoresonators, sensors, and actuators under random loads requiring precise dynamic modeling.

本研究建立了一个统一的框架来分析粘弹性基础上压电纳米梁的随机振动。利用非局部弹性和汉密尔顿原理,在统一的剪切变形理论中推导出控制方程,该理论包括Timoshenko, Reddy,正弦,双曲和指数模型。建立了稳态白噪声激励下的频率响应函数,并用文献结果进行了验证。参数结果表明,非局部效应增加了振动幅值,高阶理论比Timoshenko模型提供了更高的精度,并且由于机电和热耦合,电压和温度放大了响应。该框架为设计需要精确动态建模的随机负载下的纳米谐振器、传感器和致动器提供了一个通用工具。
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引用次数: 0
Free vibration analysis of multiple-cracked functionally graded nanostructures 多裂纹功能梯度纳米结构的自由振动分析
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-12 DOI: 10.1007/s00707-025-04500-9
Tran Binh Dinh, Tran Van Lien

In this study, the free vibrations of multiple-cracked nanostructures composed of functionally graded materials (FGMs) are investigated based on the nonlocal elastic theory (NET) and the dynamic stiffness method (DSM). The material properties of the FGMs vary nonlinearly along the height of the beam element. Cracks in the FGM nanostructures are modeled as two elastic springs connecting the intact segments at the cracked section. The differential equations of motion of a multiple-cracked FGM Timoshenko nanobeam element are derived using Hamilton’s principle and the NET with continuity conditions incorporated at the cracked sections. Exact closed-form solutions, which resolve the nonlocal paradox associated with the fundamental frequency of FGM cantilever beams, are proposed to construct the dynamic stiffness matrices for multiple-cracked FGM nanostructures under arbitrary boundary conditions. The proposed DSM model enables efficient and accurate computation of the free vibrations of multiple-cracked FGM nanostructures using a minimal number of elements. The reliability of the proposed DSM-based solutions is validated through comparisons with existing numerical results in the literature. Furthermore, the effects of the nonlocal parameters, material gradation, geometric properties, and elastic foundation on the vibration behavior of multiple-cracked FGM nanostructures are analyzed in detail.

基于非局部弹性理论(NET)和动态刚度方法(DSM),研究了由功能梯度材料(fgm)组成的多裂纹纳米结构的自由振动。fgm的材料性能沿梁单元的高度呈非线性变化。FGM纳米结构中的裂纹被建模为连接裂纹截面上完整部分的两个弹性弹簧。利用Hamilton原理和NET,推导了多裂纹FGM Timoshenko纳米梁单元的运动微分方程,并考虑了裂纹截面的连续性条件。针对任意边界条件下多裂纹FGM纳米结构的动态刚度矩阵,提出了精确闭型解,解决了与FGM悬臂梁基频相关的非局部悖论。提出的DSM模型能够使用最少的单元数高效准确地计算多裂纹FGM纳米结构的自由振动。通过与文献中现有数值结果的比较,验证了所提出的基于dsm的解决方案的可靠性。此外,还详细分析了非局部参数、材料级配、几何性质和弹性基础对多裂纹FGM纳米结构振动行为的影响。
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引用次数: 0
Influence of microchannel geometry on droplet breakup dynamics: a computational study 微通道几何形状对液滴破碎动力学影响的计算研究
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-10 DOI: 10.1007/s00707-025-04453-z
Saikat Biswas, Partho S. G. Pattader, Tapas K. Mandal

In this study, the effect of width ratio (branch channel width/main channel width) on droplet breakup dynamics in a horizontal microfluidic T-junction using oil–water volume fraction contours, pressure profile, and velocity profile has been investigated using 2D simulation. Simulations have been also conducted to reveal the effect of branch arm length ratio (right arm length/left arm length) on droplet breakup dynamics. The numerical simulation is validated with experimental results taken from the literature. Two types of breakup regimes, along with a non-breakup regime, have been found. The breakup regimes are tunnel breakup, and obstructed breakup, and the non-breakup regime is the alternate movement of droplets. The tunnel breakup and the obstructed breakup are mainly due to the pressure difference in the branch channel and the direction of the velocity vectors which are towards the branch’s exit and the pressure swing phenomenon is the reason behind the alternate movement of the droplets. Breakup with tunnel is found in WR (width ratio) = 0.75, 0.5, breakup with obstruction is found in WR (width ratio) = 0.25 and alternate movement is found in WR (width ratio) = 1 for Vw (velocity of water) = 0.01 m/s, Vo (velocity of oil) = 0.18 m/s. It has been found that breakup tendency increases as we decrease the width ratio (1, 0.75, 0.5, and 0.25) and increase the arm length ratio (0.4, 0.6, and 0.9). Some 3D simulations have been performed regarding these and the 3D simulations confirm the accuracy of the 2D simulations. Droplet breakup conditions have been studied. Various mixed flow regimes have been identified and illustrated. Mixed flow patterns have been displayed with the help of a flow pattern map for the width ratio = 1, 0.75, 0.5, and 0.25. Prediction of simulated pressure gradient have also been done with the help of the Dimensional analysis for width ratio = 1 and 17% of average error is found between predicted and simulated pressure gradient. This quantitative analysis of the pressure drop evidenced that the solver correctly captures viscous dissipation and interfacial forces and the design of bifurcated channel geometry is optimal.

在本研究中,采用二维模拟研究了宽度比(分支通道宽度/主通道宽度)对水平微流体t型结中液滴破碎动力学的影响,采用油水体积分数等高线、压力剖面和速度剖面进行了研究。模拟实验还揭示了分支臂长比(右臂长/左臂长)对液滴破碎动力学的影响。数值模拟与文献中的实验结果进行了验证。已经发现了两种类型的分手机制,以及一种非分手机制。破碎形态为隧道破碎和受阻破碎,非破碎形态为液滴交替运动。通道破裂和受阻破裂主要是由于分支通道内的压力差和速度矢量向分支出口的方向造成的,压力摆动现象是液滴交替运动的原因。当Vw(水速度)= 0.01 m/s, Vo(油速度)= 0.18 m/s时,在WR(宽比)= 0.75、0.5时出现隧道崩解,在WR(宽比)= 0.25时出现阻塞崩解,在WR(宽比)= 1时出现交替运动。研究发现,随着宽度比(1、0.75、0.5和0.25)的减小和臂长比(0.4、0.6和0.9)的增大,分手倾向增加。对此进行了一些三维仿真,三维仿真证实了二维仿真的准确性。对液滴破碎条件进行了研究。各种混合流动形式已经确定和说明。在宽度比= 1、0.75、0.5和0.25的流型图的帮助下,已经显示了混合流型。在宽度比为1的情况下,利用量纲分析对模拟压力梯度进行了预测,预测与模拟压力梯度的平均误差为17%。通过对压降的定量分析,证明了该求解器正确地捕捉了粘滞耗散和界面力,分岔通道的几何形状设计是最优的。
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引用次数: 0
On the forced vibrations of FG-CNTRC curved pipes subjected to a moving load FG-CNTRC弯曲管在移动载荷作用下的受迫振动研究
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-09 DOI: 10.1007/s00707-025-04469-5
Xiaoxing Shi, Xuebo Yan

This article presents a study on the dynamical response of FG (functionally graded)-CNTRC (carbon nanotube-reinforced composite) curved pipes subjected to a moving load in thermal field. The effect of Winkler elastic foundation as well as the effect of Pasternak shear foundation is taken into consideration. The distribution pattern of carbon nanotubes is designed through the pipe’s thickness using five various profiles. The kinematic equations are obtained and implemented for the nanocomposite curved pipe based on the higher-order shear deformation theory considering the von Karman type of geometric nonlinearity. The time-dependent governing equations are formulated for the nanocomposite curved pipe via the Hamilton’s principle. The Ritz solution method is implemented to obtain the matrix representation for governing differential equations with three different types of boundary conditions. The obtained time-dependent equations are traced in time by considering the Newmark time marching method. Finally, several numerical examples are discussed to explore the influences of the important parameters on the dynamical response of the FG-CNTRC curved pipes subjected to a moving load.

本文研究了功能梯度(FG)-CNTRC(碳纳米管增强复合材料)弯曲管在热场运动载荷作用下的动态响应。考虑了温克勒弹性地基的作用和帕斯捷尔纳克剪切地基的作用。利用五种不同的轮廓设计了碳纳米管在管道厚度上的分布模式。基于高阶剪切变形理论,考虑von Karman型几何非线性,建立并实现了纳米复合材料弯曲管的运动方程。利用Hamilton原理建立了纳米复合材料弯曲管的时变控制方程。采用里兹解法得到了具有三种不同边界条件的微分方程的矩阵表示。采用Newmark时间推进法对得到的时变方程进行时间跟踪。最后,通过数值算例探讨了重要参数对FG-CNTRC弯曲管在移动载荷作用下动力响应的影响。
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引用次数: 0
Decay and regularity in second-gradient thermoelastic plates with relaxation time 二阶梯度热弹性板随弛豫时间的衰减和规律性
IF 2.9 3区 工程技术 Q2 MECHANICS Pub Date : 2025-09-08 DOI: 10.1007/s00707-025-04497-1
José R. Fernández, Ramón Quintanilla

In this work, we will study, from the analytical point of view, two problems arising in second-gradient thermoelasticity. The first one involves the Lord–Shulman second-gradient theory. An existence and uniqueness result is shown by using the theory of linear semigroups. Then, we prove that the energy decay is of exponential type and that the semigroup associated to the differential operator is not differentiable, which implies that this is not analytic neither. The second problem includes the so-called Moore–Gibson–Thompson second-gradient theory. Two cases will be considered if we assume that the thermal law includes (or not) fourth-order spatial derivatives. In the case of second-order spatial derivatives, we recall that the problem has a unique solution but the energy decay is slow; meanwhile, if fourth-order spatial derivatives are present, the decay is of exponential type. For this last problem, we study the analyticity of the semigroups depending on a constitutive coefficient.

在这项工作中,我们将从分析的角度研究二次梯度热弹性中出现的两个问题。第一个是Lord-Shulman二阶梯度理论。利用线性半群理论,给出了一个存在唯一性结果。然后,我们证明了能量衰减是指数型的,并且与微分算子相关的半群是不可微的,这意味着它也不是解析的。第二个问题包括所谓的摩尔-吉布森-汤普森二阶梯度理论。如果我们假设热定律包含(或不包含)四阶空间导数,我们将考虑两种情况。在二阶空间导数的情况下,我们记得这个问题有一个唯一解,但能量衰减缓慢;同时,如果存在四阶空间导数,则衰减为指数型。对于最后一个问题,我们研究了依赖于一个本构系数的半群的可解析性。
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引用次数: 0
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