Hindawi Publishing Corporation

e Scientic World Journal

Volume 2014, Article ID 569386, 15 pages
[Link]

Research Article
Analysis of Rattleback Chaotic Oscillations

Michael Hanias,1 Stavros G. Stavrinides,2 and Santo Banerjee3

1
Department of Electronics, Computers, Telecommunications and Control, Faculty of Physics,
National and Kapodistrian University of Athens, Athens, Greece
2
Electrical and Computer Engineering Department, University of Cyprus, Nicosia, Cyprus
3
Laboratory of Cryptography, Analysis & Structure, Institute for Mathematical Research, University Putra Malaysia, Malaysia

Correspondence should be addressed to Santo Banerjee; santoban@[Link]

Received 30 August 2013; Accepted 7 October 2013; Published 8 January 2014

Academic Editors: S. Anita, G. Dai, and Z. Mukandavire

Copyright 2014 Michael Hanias et al. This is an open access article distributed under the Creative Commons Attribution License,
which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Rattleback is a canoe-shaped object, already known from ancient times, exhibiting a nontrivial rotational behaviour. Although its
shape looks symmetric, its kinematic behaviour seems to be asymmetric. When spun in one direction it normally rotates, but when
it is spun in the other direction it stops rotating and oscillates until it finally starts rotating in the other direction. It has already
been reported that those oscillations demonstrate chaotic characteristics. In this paper, rattlebacks chaotic dynamics are studied by
applying Kanes model for different sets of (experimentally decided) parameters, which correspond to three different experimental
prototypes made of wax, gypsum, and lead-solder. The emerging chaotic behaviour in all three cases has been studied and evaluated
by the related time-series analysis and the calculation of the strange attractors invariant parameters.

1. Introduction direction. It has already been reported that rattleback is

demonstrating a chaotic behaviour during the procedure of
Behaviour of dynamical systems is always of great interest, reversing its spin [79].
especially when these dynamics reveal a nonlinear-chaotic In this paper, this chaotic behaviour for different variables
behavior. Rattleback is such a case and there have been is studied and evaluated by utilizing a mathematical model,
numerous analyses of its peculiar behaviour, since the 1890s whose parameters have been experimentally defined by
[1, 2]. Many other papers have been published on the issue, three different rattlebacks made of wax, gypsum, and solder.
especially during the 1980s [35]. Time-series analysis and the corresponding chaotic evalua-
Rattleback is a canoe-shaped body, that is, a semiellipsoid tion reveal the global dynamical features of this interesting
object, known from the ancient years named as celt or object dynamical behaviour. The paper is organized in three
anagyre. It demonstrates the very interesting property of sections. In the first section, rattlebacks dynamics are intro-
spin asymmetry leading to a peculiar kinematic behaviour. duced, utilizing Kanes model [4]. It is shown, by means of
This property seems to be unexpected in first sight, due to its numerical solutions of full, non-linear motion equations that
symmetrical shape. The demonstrated behaviour consists of a one can construct a realistic mathematical model by assum-
reasonably smooth spin in one direction, while in the oppo- ing rolling without slipping and employing a torque propor-
site direction it develops a pitching instability that leads to tional to the angular velocity in order to provide for energy
spin reversal, in an apparent defiance of the principle of con- dissipation. Rattlebacks made of different materials such as
servation of angular momentum. wax, gypsum, and lead-solder have been constructed and
It is apparent that rattleback provides a prototype of Kanes model parameter values were experimentally deter-
chiral dynamics, where in lack of mirror-symmetry it leads to mined, in order to study their dynamical behaviour. In the
unconventional dynamics. The first mathematical model was second section, time-series presentation for three (of the six)
introduced by Walker [6], who studied the linearized rat- variables appears. These time-series have been numerically
tleback equations of motion and concluded that the com- calculated and they demonstrate irregular behaviour, hinting
pletely stable motion is possible in only one (clockwise) spin chaos. Finally in the third section, time-series analysis is
2 The Scientific World Journal

Figure 1: Rattlebacks shape and its axes of coordinates.

(a) (b)

(c)
Figure 2: The three rattleback prototypes made of (a) wax, (b) gypsum, and (c) lead-solder.

performed according to Grassberger-Procaccia method [10]. direction, continues to spin in the same direction, until it
Rattlebacks strange attractors invariant parameters as corre- consumes all its initial spin energy. But when it is spun in the
lation and minimum embedding dimension are also calcu- counterclockwise direction, spinning soon ceases, the body
lated, in an effort to reveal and confirm its global dynamics. briefly oscillates, and then reverses its spin direction in the
clockwise direction, until all of its energy is again consumed.
2. Rattlebacks Dynamical System The probing property of spin asymmetry, although unan-
Experimental Model ticipated in a geometrically symmetrical object, it is apparent.
Thus, while rattleback spins reasonably smoothly in one
Objects having the semielliptic, canoe-looking shape of direction, it develops a pitching instability when it spins in the
rattleback, appearing in Figure 1, provide for a prototype of opposite direction leading to spin reversal, in an apparent
chiral dynamics, where the lack of mirror-symmetry leads to defiance of the principle of conservation of angular momen-
unconventional dynamics. In an attempt to summarize rattle- tum. But this is not the case.
backs curious mechanical behaviour one could say that this The oscillations appearing just before rattleback reverses
object, when spun on a flat horizontal surface in the clockwise its spin direction, have already been reported in [79] that
The Scientific World Journal 3

0.15
0.4
0.10

0.2
0.05

(rad)
(rad)

0.00 0.0

0.05 0.2

0.10
0.4
0.15
0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000
t (5 104 s) t (5 104 s)
(a) (b)
0.2

0.1
(rad)

0.0

0.1

0.2
0 2000 4000 6000 8000 10000
t(5 104 s)
(c)
Figure 3: Roll angle time-series for rattlebacks made of (a) wax (b) gypsum, and (c) lead-solder.

they are chaotic and are provided with deterministic chaotic 2 2

= ,
features.
As already mentioned, the first mathematical model hav- 3 3
= .
ing the ability to represent these phenomena was proposed by
Walker [6] in 1979 and it incorporated a linearized approach (1)
of rattlebacks dynamics, proving that only one spinning
direction could be stable (clockwise). Later, in 1982 Kane The first three variables , , define and the ellipsoid orien-
and Levinson proposed another very realistic mathematical tation; stands for the roll angle, for the pitch angle, and
approach [4] based on a set of six nonlinear ordinary for the yaw angle. The other three variables 1 , 2 , and 3 are
differential equations (NODE) that are presented in (1). the ellipsoids spin rates, that is, the corresponding angular
velocities. is the determinant for mass of inertia, while 1 ,
Consider
2 , and 3 are the determinants for the angular accelerations.
These determinants are defined by (2), (5), (6), and (7),
respectively, according to the following:
= 3 sin + 1 cos ,


+ [2 + ( )2 ]
= (3 cos + 1 sin ) tan + 2 , 1 2 ( 3 ) 1

2 3
+ [1 + ( 3 ) ] ( 2 ) 1 .
2
= 1 2 2

( 3 ) 1 ( 2 ) 1 + (12 + 22 )
= (3 cos 1 sin ) sec ,
(2)
1 1 , , , are the moments of inertia with respect to axes
= , whose origin is at the center of mass and which are rotated by

4 The Scientific World Journal

4
4

2
2

1 (rad/s)
1 (rad/s)

0 0

2
2

4
4
0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000
t (5 104 s) t (5 104 s)
(a) (b)

2
1 (rad/s)

0 2000 4000 6000 8000 10000

t (5 104 s)
(c)

Figure 4: Ellipsoid spin rate 1 time-series in the case of (a) wax, (b) gypsum, and (c) lead solder.

an angle = 0.5 degrees [4]. It is important to note that the 1

= (2 + 2 ) ,
center of mass is at a position defined as = (3/8) and the 5
axes whose origin is at center of mass are parallel to the geo- (4)
metrical axes of symmetry after a rotation by , , . The , ,
1 2 ( 3 ) 1
, are defined by the following set of four equations: 1


= ( cos2 + sin2 ) 2 , + [2 + ( )2 ] ( )
1 = 2 1 3 2 1 , (5)


= ( sin2 + cos2 ) 2 , 2 2
3 ( 2 ) 1 + (1 + 2 )
= , 2
+ [22 + ( 3 ) ] 1 ( 3 ) 1


= = = ( ) cos sin 2 , 2 =
1 2 2 ( 2 ) 1 , (6)

(3)
2 2
( 3 ) 1 3 + (1 + 2 )
where , , and are the moments of inertia, with
2
respect to the principal axes of the ellipsoid, defined as + [22 + ( 3 ) ] 1 2 1
follows:

1 2
= + [ 2
+ ( ) ] .
= (2 + 2 ) , 1 2 1 3 2
5

1
( 3 ) 1 ( 2 ) 1 3
= (2 + 2 ) , (7)
5
The Scientific World Journal 5

0.2

0.4

0.3
(rad)

(rad)
0.1
0.2

0.1

0.0 0.0
0 2000 4000 6000 8000 10000 0 2000 4000 6000 8000 10000
t (5 104 s) t (5 104 s)
(a) (b)
0.16

0.12
(rad)

0.08

0.04

0.00
0 2000 4000 6000 8000 10000
t (5 104 s)
(c)

Figure 5: Ellipsoids angle between the vertical axes of the ellipsoid and its surface time-series in the case of (a) wax (b) gypsum, and (c)
lead solder.

( = 1, 2, 3) that appear in determinants 1, 2, 3 are 1 = [( 3 ) 2 + 3 3 ] ,

defined by (8):
2 = [(3 ) 1 1 3 ] ,

= + + , (8) 3 = [1 2 2 1 ] ,
(9)
with , , ( = 1, 2, 3): where = ( = 1, 2, 3) is the action of a torque
with a positive constant standing for the air resistance coef-
1 = 1 + [(3 ) 2 2 3 ] , ficient. The underlying idea is that air resistance may be the
principal energy-dissipating mechanism that must be taken
2 = 2 + [( 3 ) 1 + 1 3 ] , into account. The rest of the parameters, appearing in equa-
tion set (9), are defined in the following set of (10):
3 = 3 + [(2 1 1 2 )] , 1 = cos sin ,

1 = [ 1 + ( ) 2 ] 3 , 2 = sin ,
3 = cos cos ,
2 = [( ) 1 2 ] 3 ,
3
3 = (22 12 ) + ( ) 1 2 , 1 = 2 (V3 ) 3 (V2 2 ) ,

6 The Scientific World Journal

5 5

4 4

3 3
I I

2 2

1 1

0 0
0 20 40 60 80 100 0 50 100 150 200
t t
(a) (b)
5.0
4.5
4.0
3.5
3.0
I 2.5
2.0
1.5
1.0
0.5
0.0
0 20 40 60 80 100
t
(c)

Figure 6: Average mutual information () versus time delay for roll angle () time-series, in the case of (a) wax, = 63, = 78, (b)
gypsum, = 140, = 200, and (c) lead-solder, = 65, = 80. is the first minimum and is the absolute minimum and this value is
regarded as the Theiler window.

1 In the work presented in this paper, three rattlebacks made of

2 = 3 (V1 ) 1 (V3 3 ) ,
three different materials were constructed. The materials used
were wax, gypsum, and lead-solder and the prototypes appear
2
3 = 1 (V2 ) 2 (V1 1 ) , in Figure 2. All three bodies were tested on whether they
behaved as expected, and moreover, the total time until they
(10) stopped, before reversing their spin direction, was measured
and it was found to be the same with the time provided by
with V the coordinates of the ellipsoids linear velocity:
Kanes set (1) of equations, thus confirming both the realistic
V1 = 2 ( 3 ) + 3 2 , value of Kanes mathematical approach and the constructed
objects right behaviour.
V2 = 3 1 1 ( 3 ) , (11) In order to experimentally define parameters , , , , and
, appearing in Kanes model, all three rattlebacks had their
V3 = 1 2 + 2 1 .
dimensions measured and were weighted. As a result, the
Parameters , , are the ellipsoids dimensions on its axes, following parameter sets have emerged and they are pre-
while is the distance of the top horizontal surface from its sented in Table 1.
initial center of gravity. Parameter is the ellipsoids mass. Then, the corresponding mass moments of inertia were
Variable (the angle between the vertical axis of the ellipsoid calculated for each ellipsoid and they possessed the values
and the flat surface) is defined by (12) appearing in Table 2. It is noted that the three ellipsoids
were constructed having their dimensions almost the same
= cos1 3 . (12) (see Table 1), in an effort to be comparable one to the other.
The Scientific World Journal 7

8 18

17

7 16
ln C(r)

ln C(r)
15

6 14

13

5 12
1.5 1.0 0.5 0.0 3 2 1
ln r ln r
(a) (b)

18

17

16
ln C(r)

15

14

13
3 2 1 0
ln r
(c)

Figure 7: Relation between ln () and ln for different embedding dimensions for roll angle time-series for (a) wax, (b)gypsum, and
(c) lead-solder, materials.

Table 1: Kanes model parameters for three rattlebacks made of Simulation of the experimental defined mathematical
different materials. model, proposed by Kane and Levinson [4] was run, with the
a (m) b (m) c (m) = 3/8 (m) M (kgr) following initial conditions: = 0.5 degrees, = 0.5 degrees,
= 0 degrees, 1 = 2 = 0, 3 = 5 rad/s, = 0 (no air-
Wax ellipsoid 0.0482 0.00965 0.0117 0.044 0.0106
resistance).
Gypsum 0.04835 0.00925 0.0016 m 0.006 0.0154
ellipsoid
Lead-solder 0.04835 0.00925 0.0016 m 0.006 0.0205
3. Time-Series Analysis
ellipsoid
In order to explore and study rattlebacks dynamics when it is
initially gyrated to the counter-clockwise direction, the set of
Table 2: Mass moments of inertia were calculated for each ellipsoid.
the six nonlinear equations (1), modeling (according to Kane)
A (Kgrm2 ) B (Kgrm2 ) C (Kgrm2 ) D (Kgrm2 ) rattlebacks dynamical behaviour, was numerically solved
with Matlabs ODE45. This procedure was executed for the
Wax ellipsoid 0.0482 0.00965 0.0117 0.044
three cases of rattlebacks different material realizations, as
Gypsum 0.04835 0.00925 0.0016m 0.006
ellipsoid these are mentioned in Table 1.
Lead-solder As already described in this case, rattlebacks motion stops
0.04835 0.00925 0.0016m 0.006 and oscillations take place until it starts to rotate in the
ellipsoid
clockwise direction. During the oscillation time period, the
variable time-series demonstrating an irregular behaviour,
Consequently, only masses possessed different values, result- hinting to a deterministic chaotic one, in all three cases were
ing of course in different mass moments of inertia. roll angle , the corresponding spin rate 1 , and the angle
8 The Scientific World Journal

4 4

3 3

v 2 v 2

1 1

0 0
0 2 4 6 8 10 0 2 4 6 8 10
m m
(a) (b)
4

v 2

0
0 2 4 6 8 10
m
(c)

Figure 8: Correlation dimension V versus embedding dimension for roll angle () time-series in the cases of (a) wax, V = 2.13, (b) gypsum,
V = 2.54, and (c) lead solder, V = 2.06. In all cases, minimum embedding dimension under these conditions is 3.

between the ellipsoids vertical axis and the plain surface on the transition from a counterclockwise to a clockwise direc-
top. These time-series were calculated for the three rattleback tion. This irregular oscillation takes place for a while and it
realizations. In particular the differential equations of set (1) is degraded to an almost periodic one until it starts rotating
were solved (numerically) with a step = 0.0005, regis- again.
tering = 10000 points and the solutions are presented
in Figures 3, 4, and 5. In these figures the evolvement of
the selected variables appears for the time period from the 4. Evaluation
beginning of the oscillations to a little before the beginning
In this section nonlinear analysis and evaluation of the cal-
of the clockwise rotation.
culated irregular oscillations of the three variables appearing
In Figure 3 the roll angle () time-series for wax, gyp-
sum, and lead solder made rattlebacks are presented, as these in Figures 3, 4, and 5 for the three discrete cases of different
were numerically calculated. material-made rattlebacks are presented. Consequently, the
From the same numerical calculations the time-series of calculated time-series = (), 1 = (), and = () for
spin rate 1 () for wax, gypsum, and lead solder are presented wax (Figure 3), gypsum (Figure 4), and lead solder (Figure 5)
in Figure 4. materials were studied by applying well-known Grassberger-
Finally, in Figure 5 the angle () between the vertical axes Procaccia method [10].
of the ellipsoid and the flat surface time series for the cases As a first step, utilizing Takens theory [11], a topologically
of wax, gypsum, and lead solder materials appears. equivalent to the original phase space was reconstructed
From all these three figures, it is apparent that an irregular for each of the three calculated time-series. In order to
behaviour emerges when rattleback begins to oscillate during achieve this correlation, integral () was calculated from
The Scientific World Journal 9

5 5

4 4

3 3
I I
2 2

1 1

0 0
0 20 40 60 80 100 0 100 200 300 400 500

(a) (b)
5

3
I

0
0 100 200 300 400 500

(c)

Figure 9: Average mutual information () versus time delay for spin rate 1 () time-series in the case of (a) wax, = 53, = 60, (b)
gypsum, = 63, = 358, and (c) lead solder, = 58, = 58. is the first minimum and is the absolute minimum and this value is
regarded as the Theiler window.

the time-series appearing in Figures 35. Correlation integral = 10000. Considering the dimensional space, each vec-
is generally defined as [11] tor should be given by

1
= { () , ( + ) , ( + 2) , . . . , [ + ( 1) ]} , (15)
() = ( ) , (13)
pairs =1, and it would represent a point in the dimensional phase
=+ space [10]. In (15), stands for the delay time determined by
the first minimum of mutual information function ().
where is the number of the corresponding data points,
As Theiler pointed out, if strongly correlated points are
is the Theiler window [10], is the Heaviside function, and
not to be neglected, a spuriously low dimension estimate
pairs is defined by the following relation:
may be obtained. Consequently, a correction by introducing
2 parameter (the Theiler window) should be introduced.
pairs = , (14) However, since there is no standard method for choosing
( + 1) ( + + 1)
, this may be determined by absolute minimum of mutual
with being the embedding dimension. information [12]. Hence, we can use these values for phase
It is apparent that the summation in (13) counts the space reconstruction. With (13) dividing the considered
number of pairs for which the distance, that is, the Euclidean dimensional phase space into hypercubes with a linear
norm, is less than in an dimensional Euclidean space. dimension , all points with mutual distances less than are
In this case, the number of the experimental data points was counted. Then, if the attractor is a strange one, the correlation
10 The Scientific World Journal

19

18
18

17
ln C(r)

ln C(r)
16
17
15

14

13 16
3.5 3.0 2.5 2.0 1.5 1.0 0.5 0.0 2.0 1.5 1.0 0.5 0.0
ln r ln r
(a) (b)

18

17

16
ln C(r)

15

14

13
3.5 3.0 2.5 2.0 1.5 1.0 0.5 0.0
ln r
(c)

Figure 10: Relation between ln () and ln for different embedding dimensions for spin rate 1 () time-series, for (a) wax, (b) gypsum,
and (c) lead solder.

integral will be proportional to ] , where V is a measure of the By using the optimum delay time calculated above,
attractors dimension called correlation dimension. scaling of correlation integral () according to , for different
The above described method has been applied to the embedding dimensions , is presented in Figure 7. These
timeseries of Figures 35. double logarithmic plots illustrate the relationship between
ln () and ln in all three cases of wax (Figure 7(a)), gypsum
(Figure 7(b)), and lead solder (Figure 7(c)) rattlebacks.
4.1. Roll Angle () Time-Series Chaotic Evaluation. In this
The corresponding average slopes V (correlation dimen-
subsection three different material made rattlebacks dynam-
sions) of the linear parts of the three diagrams of Figure 7 as
ics are evaluated by studying the roll angle () time-series. As
a function of the embedding dimension appear in Figure 8.
shown in Figure 6(a), for wax the ellipsoids mutual informa-
As seen in the corresponding figures, for higher values of
tion exhibits a local minimum at = 63 steps and an absolute embedding dimension , slopes V (correlation dimension)
minimum at = 78 steps. Thus, this value ( = 63) should tend to saturate to the noninteger value of V = 2.13 (for wax),
be considered as the optimum delay time while the Theiler V = 2.54 (for gypsum), and V = 2.06 (for lead solder), provid-
window is = 78. The same way, for the gypsum ellipsoid, ing a confirmation of time-series () chaotic nature, in all
mutual information (appears in Figure 6(b)) exhibits a local three cases [10, 12].
minimum at = 140 steps (optimum delay time) and an According to Abarbanel [13], the closest integer above the
absolute minimum at = 200 steps (Theiler window value). correlation dimension provides with the proper minimum
Finally, in the case of the lead solder ellipsoid mutual infor- embedding dimension min , which in this case possesses the
mation (appears in Figure 6(c)) exhibits a local minimum at value min = 3 for all three materials. This minimum embed-
= 65 steps (optimum delay time) and an absolute minimum ding dimension is referred to the systems attractor under the
at = 80 steps (Theiler window value). specific conditions and it reveals the essential dimension of
The Scientific World Journal 11

4 4

3 3

v 2 v 2

1 1

0 0
0 2 4 6 8 10 0 2 4 6 8 10
m m
(a) (b)
4

v 2

0
0 2 4 6 8 10
m
(c)
Figure 11: Correlation dimension V versus embedding dimension for spin rate 1 () time-series in the cases of (a) wax, V = 1.71 (b) gypsum,
V = 2.49, and (c) lead solder, V = 1.97. Minimum embedding dimension is not the same in all cases, revealing the not so common dynamics
of rattleback.

the corresponding dynamical system phase space (and the determines the delay time and the absolute minimum Theiler
number of the essential variables), necessary to model the window.
dynamics of the attractor. In Figure 9(a), in the case of wax-made ellipsoid, mutual
On the other hand, the sufficient phase space dimension, information exhibits a local minimum at = 53 steps and
necessary to fully describe the global dynamics of the system, an absolute minimum at = 60 steps. The same way, for
can also be experimentally identified in Figure 8, by identi- the gypsum-made ellipsoid, mutual information (appears in
fying the embedding dimension where the correlation expo- Figure 9(b)) exhibits a local minimum at = 63 steps (opti-
nent reaches its saturation value [14]. In this case, it is appar-
mum delay time) and an absolute minimum at = 358 steps
ent that this happens after the 6th embedding dimension.
(Theiler window value). Finally, in the case of the lead
Thus, the sufficient phase space embedding dimension for the
attractor, describing rattlebacks global dynamics, is equal to solder ellipsoid, mutual information (appears in Figure 9(c))
6, as confirmed by the number of state variables. exhibits a local minimum at = 58 steps (optimum delay
time) and an absolute minimum at = 58 steps (Theiler
4.2. Spin Rate 1 () Time-Series Chaotic Evaluation. In this window value).
subsection rattlebacks dynamics are evaluated by studying By using the optimum delay time calculated above,
the spin rate 1 () time-series. Again this evaluation takes scaling of correlation integral () according to , for dif-
place for the three different material-made rattlebacks. ferent embedding dimensions , is presented in Figure 10.
In Figure 9, the essential data needed for further eval- These double logarithmic plots illustrate the relation between
uating rattlebacks chaotic dynamics, by utilizing mutual ln () and ln in all three cases of wax (Figure 10(a)), gyp-
information (), is extracted. Again the first local minimum sum (Figure 10(b)), and lead solder (Figure 10(c)) rattlebacks.
12 The Scientific World Journal

5 5

4 4

3 3
I I
2 2

1 1

0 0
0 20 40 60 80 100 0 50 100 150 200

(a) (b)
5

3
I
2

0
0 100 200 300 400 500

(c)

Figure 12: Average mutual information () versus time delay for angle () time-series in the case of (a) wax, = 61, = 84, (b) gypsum,
= 114, = 197, (c) lead solder, = 55, = 470. It is noted that determines the proper delay time and the Theiler window.

Again the average slopes V of the linear parts of the three revealing the very interesting and not so common dynamics
diagrams, appearing in Figure 10, as a function of embedding exhibited by rattleback.
dimension (corresponding to correlation dimensions), are Again, the sufficient phase space dimension, necessary to
formatting the diagrams in Figure 11. In these diagrams, for fully describe the global dynamics of the system, possesses
higher values of embedding dimension , slopes tend to sat- the value 6 as expected.
urate to the noninteger values of V = 1.71 (for wax), V = 2.49
(for gypsum), and V = 1.97 (for lead solder), thus providing
again a confirmation of this time-series 1 () chaotic nature, 4.3. Angle () Time-Series Analysis. The last time-series,
in all three cases [10, 12]. evaluated for producing the essential metrics regarding rattle-
Taking into account [13], the minimum embedding backs chaotic behaviour, is that of the angle () between the
dimension is once more determined by the closest integer vertical axis of the ellipsoid and the flat surface. This variable
above the correlation dimension. In this case, this provides is defined by (12) in the second section and it is produced by
the proper minimum embedding dimension min , which in two state variables () and (). Like the previous two cases,
this case possesses the value min = 2 for wax and lead solder, calculation of mutual information () provided the necessary
while it is min = 2 for gypsum. It is noted again that this elements to further evaluate the chaotic dynamics demon-
minimum embedding dimension is referred to the systems strated, according to [10, 11]. The first local minimum deter-
attractor under the specific conditions and it reveals the mines the delay time and the absolute minimum (Theiler
essential dimension of the corresponding dynamical system window). So as shown in Figure 12(a) and in the case of wax-
phase space (and the number of the essential variables) made ellipsoid, mutual information exhibits a local minimum
necessary to model the dynamics of the attractor, once more at = 61 steps and an absolute minimum at = 84 steps.
The Scientific World Journal 13

19 19

18
17 18

16
17
ln C(r)

15

ln C(r)
14
16
13
12 15
11
10 14
4 3 2 1 0 2 1 0
ln r ln r
(a) (b)
19

18
ln C(r)

17

16

15
2.0 1.5 1.0 0.5 0.0
ln r
(c)

Figure 13: Relation between ln () and ln for different embedding dimensions for angle () time-series in the cases of rattlebacks made
of (a) wax, (b) gypsum, and (c) lead solder, materials.

The same way, for the gypsum-made ellipsoid, mutual infor- of this time-series 1 () chaotic nature, in all three cases
mation (appears in Figure 12(b)) exhibits a local minimum [10, 12]. Consequently, the minimum embedding dimensions
at = 114 steps (optimum delay time) and an absolute mini- according to [13] are min = 3 for wax and lead solder, while
mum at = 197 steps (Theiler window value). Finally, in the it is min = 2 for gypsum. Again, the sufficient phase space
case of the lead solder ellipsoid, mutual information (appears dimension, necessary to fully describe the global dynamics of
in Figure 12(c)) exhibits a local minimum at = 55 steps the system, possesses the value 6, as expected by the theoret-
(optimum delay time) and an absolute minimum at = 470 ical model.
steps (Theiler window value).
By using the optimum delay time calculated above,
scaling of correlation integral () according to , for different 5. Conclusions
embedding dimensions , is presented in Figure 13 (for all
three cases of wax Figure 13(a) gypsum Figure 13(b) In this paper chaotic dynamics emerging during the oscilla-
and lead solder Figure 13(c)). tions, taking place in the procedure of rattlebacks spin direc-
As already described, the average slopes V of the linear tion reversing, have been studied. This study utilized Kanes
parts of the three diagrams, appearing in Figure 14, as a func- mathematical model. The models parameter values were
tion of embedding dimension (corresponding to correla- determined by measuring and weighting real rattleback pro-
tion dimensions), are formatting the diagrams in Figure 14. In totypes made of three different materials: wax, gypsum, and
these diagrams, the correlation dimension appears to possess lead solder.
noninteger values: V = 2.20 for wax, V = 1.85 for gypsum, and The evaluation of the related results clearly hint at the
V = 2.06 for lead solder, thus providing again a confirmation demonstration of chaotic dynamics (during the process of
14 The Scientific World Journal

4 4

3 3

v 2 v 2

1 1

0 0
0 2 4 6 8 10 0 2 4 6 8 10
m m
(a) (b)
4

v 2

0
0 2 4 6 8 10
m
(c)

Figure 14: Correlation dimension V versus embedding dimension for angle () time-series in the cases of (a) wax, V = 2.20, (b) gypsum,
V = 1.85, and (c) lead solder, V = 2.06. Minimum embedding dimension is not the same in all cases, revealing the not so common dynamics
of rattleback.

reversing spin direction, in case rattleback is initially coun- dimension of the prototypes and of course their masses. It
terclockwise gyrated). However, there are differences in the is apparent that these small changes finally lead to a differ-
strength of chaos demonstrated by different material-made ent chaotic movement (oscillations) in the sense of chaos
prototypes, revealing rattlebacks interesting and rather curi- strength. In any case it seems that the dominant role in the
ous dynamics. In particular, studying the time-series of roll appearance of this chaotic behaviour belongs to the shape of
angle correlation dimension in gypsum-made ellipsoid the ellipsoid and in no case to the prototypes construction
(2.54) was larger than in the case of wax (2.13), which material.
was larger than in the case of lead-solder (2.06). The same
behaviour appears for the spin rate 1 time-series, where the
corresponding strange attractor for wax, gypsum, and lead Conflict of Interests
solder had correlation dimensions of 1.71, 2.49, 1.97, respec-
The authors declare that there is no conflict of interests
tively. However, comparing the correlation dimensions for
regarding the publication of this paper.
the time-series of angle between the vertical axes of the
ellipsoid and the surface, it was found that the gypsum-made
ellipsoid demonstrated the smallest (V = 1.85) value, com- Acknowledgment
pared to the wax-made (V = 2.20) and the lead-solder-made
(V = 2.06). The authors would like to acknowledge George Mandamadi-
These differences in the resulting values of correla- otis for the construction of the three rattleback experimental
tion dimension could be attributed to the slightly different prototypes.
The Scientific World Journal 15

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