Review of Applications of

Nonlinear Normal Modes for

Vibrating Mechanical Systems
This paper is an extension of the previous review, done by the same authors (Mikhlin, Y.,
Konstantin V. Avramov and Avramov, K. V., 2010, “Nonlinear Normal Modes for Vibrating Mechanical Systems.
A. N. Podgorny Institute for Mechanical Review of Theoretical Developments,” ASME Appl. Mech. Rev., 63(6), p. 060802), and it
Engineering Problems, is devoted to applications of nonlinear normal modes (NNMs) theory. NNMs are typical
National Academy of Sciences of Ukraine, regimes of motions in wide classes of nonlinear mechanical systems. The significance of
Kharkov, Ukraine 61046; NNMs for mechanical engineering is determined by several important properties of these
National Technical University “KhPI,” motions. Forced resonances motions of nonlinear systems occur close to NNMs. Nonlin-
Kharkov, Ukraine 61002 ear phenomena, such as nonlinear localization and transfer of energy, can be analyzed
e-mail: [email protected] using NNMs. The NNMs analysis is an important step to study more complicated
behavior of nonlinear mechanical systems.This review focuses on applications of
Yuri V. Mikhlin Kauderer–Rosenberg and Shaw–Pierre concepts of nonlinear normal modes. The
National Technical University “KhPI,” Kauderer–Rosenberg NNMs are applied for analysis of large amplitude dynamics of
Kharkov, Ukraine 61002 finite-degree-of-freedom nonlinear mechanical systems. Systems with cyclic symmetry,
e-mail: [email protected] impact systems, mechanical systems with essentially nonlinear absorbers, and systems
with nonlinear vibration isolation are studied using this concept. Applications
of the Kauderer–Rosenberg NNMs for discretized structures are also discussed. The
Shaw–Pierre NNMs are applied to analyze dynamics of finite-degree-of-freedom
mechanical systems, such as floating offshore platforms, rotors, piece-wise linear
systems. Studies of the Shaw–Pierre NNMs of beams, plates, and shallow shells are
reviewed, too. Applications of Shaw–Pierre and King–Vakakis continuous nonlinear
modes for beam structures are considered. Target energy transfer and localization
of structures motions in light of NNMs theory are treated. Application of different
asymptotic methods for NNMs analysis and NNMs based model reduction are reviewed.
[DOI: 10.1115/1.4023533]

1 Introduction There are a lot of recent publications devoted to target energy

transfer and localization of motions. These results are discussed in
Nonlinear normal modes (NNMs) are a generalization of
this review in the light of the NNMs theory.
normal vibrations of linear systems. NNMs are used to detect
Numerous studies used asymptotic methods to construct
properties of a nonlinear vibratory system, which are not
NNMs. Then modulation equations with respect to slow
obtained by other analytical and numerical methods. At first, the
variables are derived; stability and bifurcations of NNMs are
Kauderer–Rosenberg concept of NNMs, which is based on a con-
analyzed. Asymptotic methods were used to investigate mass–
struction of trajectories in the system configuration space, was
spring–pendulum systems, piece-wise linear two-degree-of-
developed to analyze large amplitude vibrations of finite-degree-
freedom systems, one-dimensional continuous systems, beams
of-freedom systems without dissipation. Later Shaw and Pierre
structures, and water-filled circular shells.
proposed another concept of NNMs, based on the invariant
Both theory and applications of NNMs to physical and engi-
manifolds theory. The Shaw–Pierre NNMs are used to investigate
neering systems are treated in books [2–4]. Several aspects of the
nonlinear dynamics of dissipative mechanical systems.
NNMs theory are considered in Refs. [5,6].
The Kauderer–Rosenberg NNMs are used to analyze nonlinear
This paper gives a certain summary of NNMs applications. The
dynamics of systems with cyclic symmetry, impact systems, sys-
main objectives of this review are to show how the NNMs
tems with essentially nonlinear absorbers, systems with nonlinear
methodology is used in mechanical engineering. The review is
vibrations isolation, arches, beams, and cylindrical shells. The
structured as follows. The Kauderer–Rosenberg NNMs and their
Shaw–Pierre NNMs are used to analyze nonlinear dynamics of
applications are presented in Sec. 2. The Shaw–Pierre NNMs and
floating offshore platform, double-tracked road vehicle, rotors,
their applications are treated in Sec. 3. NNMs of continuous sys-
piece-wise linear systems, beams structures, plates and shells, and
tems are discussed in Sec. 4. A review of asymptotic methods for
thin-walled structures interacting with fluids. A detailed review of
NNMs analysis is presented in Sec. 5. Target energy transfer and
theoretical investigations on NNMs is published in Ref. [1].
localization of motions in the light of the NNMs theory are treated
Continuous normal modes were developed from the 1990s.
in Sec. 6. NNMs based model reduction is discussed in Sec. 7.
This approach is based on the direct solution of partial differential
Finally, other references on NNMs are described in Sec. 8.
equations. King–Vakakis and Shaw–Pierre continuous normal
modes are similar to the Kauderer–Rosenberg and Shaw–Pierre
NNMs of finite-degree-of-freedom systems. Until now, it has 2 Concept of Kauderer–Rosenberg NNMs and Its
been used to study nonlinear dynamics of beams structures only.
Applications
2.1 Theory of the Kauderer–Rosenberg NNMs. Vibrations
Manuscript received February 9, 2012; final manuscript received January 28, of thin-walled structures with geometrical nonlinearities are con-
2013; published online April 11, 2013. Assoc. Editor: Chin An Tan. sidered. Strains in such structures are small and displacements are

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 moderate. Dynamics is described by partial differential equations, A wide class of mechanical systems has potential energy in the
which has the following operator form [4,7,8]: following form: P ¼ P0 þ eP1 ; where e is a small parameter. If
e ¼ 0, these dynamical systems have rectilinear modal lines
LðHÞ þ MðHÞ þ N ðHÞ ¼ 0 qi ¼ kql. Then NNMs of perturbed systems can be obtained by the
BðHÞjH2@S ¼ 0 (1) following asymptotic expansions [1–4]:
X X ðrÞ
where L(H), M(H) are operators of linear elastic and mass forces; qi ¼ kql þ e qi ðql Þ; qi ¼ ai qrl (8)
N(H) is the nonlinear part of elastic forces acting on thin-walled ¼1 r¼1
structures; @S is the thin-walled structure boundary, and B(H) is
ðrÞ
the operator of boundary conditions. For certain beam bending where aik are unknown coefficients, which are determined.
vibrations, the vector-function H consists of the lateral deflection
of the beam w(x, t) only, where x is the longitudinal coordinate. 2.2 NNMs of Finite-Degree-of-Freedom Systems. Free
To describe plates and shells dynamics lateral displacement vibrations of a nonlinear system, which consists of n equal nonlin-
w(x, y, t) and the in-plane Airy stress function U(x, y, t) form the ear subsystems, are treated in Ref. [9]. These subsystems are
vector H otherwise, this vector is composed of the middle surface ðcÞ
coupled by weak nonlinear elastic elements efi . Equations of
points displacements ðuðx; y; tÞ; vðx; y; tÞ; wðx; y; tÞÞ. such a system have the following form:
Using the trial functions Wk(x, y), components of the vector
H ¼ (H1, H2, …, Hs) are expanded as ðuÞ ðcÞ
q€i ¼ fi ðqi Þ þ efi ðqi1 ; qi ; qiþ1 Þ
X (9)
Hs ¼ rsk ðtÞWsk ðx; yÞ (2) i ¼ 1; :::; n
k¼1
ðuÞ
where fi is a restoring force of ith uncoupled subsystem. The sys-
where rsk(t) are generalized coordinates of the mechanical system. tem in Eq. (9) with cyclic symmetry is considered in Ref. [9]. As
One vector of n components q ¼ ðq1 ; :::; qn Þ is formed from these the unperturbed system in Eq. (9) (e ¼ 0) is uncoupled, NNMs are
generalized coordinates. The Galerkin method is used to obtain weakly curved. Therefore, the following expansion is true:
the finite-degree-of-freedom model of thin-walled structure, X ðkÞ
which has the following vector form: qi ¼ q^i ðq1 Þ ¼ ek qi ðq1 Þ; i ¼ 2; :::; n (10)
k¼0
q€ þ FðqÞ ¼ Gðq; q;
_ tÞ (3)
These NNMs are determined from the system in Eq. (5) with the
where FðqÞ ¼ ½F1 ; :::; Fn  is the vector-function of nonlinear elas- boundary conditions (Eq. (6)). It is shown that both localized
tic forces; Fi ¼ @P=@qi ; P is the system potential energy, and and nonlocalized normal modes can be determined in a perfectly
vector-function Gðq; q;_ tÞ is T-periodic. symmetric, weakly coupled structure. If the localized nonlinear
A technique for NNMs calculations in configuration space is mode is observed, vibrations amplitudes of one subsystem are
described in books [1–4]. Nonlinear vibrations of conservative essentially greater then the amplitudes of other subsystems. It is
systems are considered. Following Refs. [1–4], NNM is presented shown that, in the perfectly symmetric structure with weak
as single-valued functions of the generalized coordinate ql: coupling between the substructures, NNM localization exists (in
contrast to the linear mode localization), and it does not depend
qi ¼ qi ðql Þ; i ¼ 1; :::; l  1; l þ 1; :::; n (4) on the existence of “mistuning” between substructures.
A two degree-of-freedom system with double-side impact con-
The functions in Eq. (4) describe the Kauderer–Rosenberg NNMs. straints is treated in Ref. [10]. Differential equations (Eq. (5)) are
Curve qi(ql) in the system configuration space is called a modal used to calculate modal lines. Conditions of velocity instant jumps
line. The generalized coordinates reach the maximal isoenergetic at impacts are added to these equations. NNMs are obtained for
surface simultaneously in this mode. Such motions are described weak coupling between masses of the system. These motions are
graphically by backbone curves. NNMs in Eq. (4) can be obtained obtained in the form of asymptotic expansions by the coupling
from the following ordinary differential equations in a configura- stiffness. It is obtained that the impact system possesses rich non-
tion space: linear behavior, including localized and nonlocalized periodic
motions, as well as complicated bifurcation sequences, giving rise
hP to new types of single- and double-side impacting motions, insta-
2q00i X
n  q0i Pql ¼ Pqi (5)
0
bilities, and chaotic responses.
1þ qk 2 Lateral vibrations of a mass chain coupled by strings are
k¼1 considered in Ref. [11]. Every mass of the chain has nonlinear
k6¼l
supports with impacts. The Kauderer–Rosenberg NNMs are used
where q0i ¼ dqi =dql ; Pql ¼ @P=@ql ; h is the value of the system to obtain this system motions.
energy. Equation (5) is derived using a new independent variable The Kauderer–Rosenberg NNMs are investigated in the self-
ql instead of t. Analytical continuation of the solutions up to the sustained two-degree-of-freedom system [12]:
maximal isoenergetic surface (h  P ¼ 0) is possible if the follow-  
ing boundary conditions on this surface are added to Eq. (5) q€1 þ q1 þ aq31 þ bðq1  q2 Þ  e 1  q21 q_ 1 ¼ 0
[1–4]:  
q€2 þ q2 þ aq32 þ bðq2  q1 Þ  e c 1  q22 q_ 2 ¼ 0
Pql ðq1 ðQÞ; :::; ql1 ðQÞ; Q; qlþ1 ðQÞ; :::; qn ðQÞÞq0i ðQÞ
where a, b, c are system parameters. Normal modes of self-
¼ Pqi ðq1 ðQÞ; :::; ql1 ðQÞ; Q; qlþ1 ðQÞ; :::; qn ðQÞÞ (6) sustained vibrations are analyzed in the configuration space.
Periodic motions of forced viscoelastic nonlinear systems are con-
NNMs amplitudes Q and the system energy h satisfy the following sidered in this paper, too.
equation: An attempt to create a method for construction the forced
system NNMs from experimental data is undertaken in Ref. [13].
The harmonic balance method is used to calculate NNMs
Pðq1 ðQÞ; :::; ql1 ðQÞ; Q; qlþ1 ðQÞ; :::; qn ðQÞÞ ¼ h (7) numerically.

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 The Kauderer–Rosenberg NNMs are used to analyze the amplitudes q2 ¼ Oð1Þ. Analysis of the stability shows that the
absorption of mechanical vibrations by essential nonlinear attach- localized NNM of the shallow snap-through truss is stable.
ment. A two-degree-of-freedom system consisting of the main The forced vibrations of the system (Fig. 1) are examined in
one-degree-of-freedom subsystem and the essential nonlinear Refs. [18,19]. The external force ef cosðxtÞ acts on the mass M of
absorber is considered in Ref. [14]. Equations of motion for such the linear subsystem. Using dimensionless variables and simplify-
system are the following: ing nonlinear terms, the equations of motions become

e m x€ þ c x3 þ cðx  yÞ ¼ 0  
(11) q€1 þ q1 ¼ ec q1 þ a1 q21 þ a2 q22 þ a3 q1 q22 þ a4 q31 þ ef cosðxtÞ
M y€ þ ky þ cðy  xÞ ¼ 0  
q€2 þ p2 q2 a5  a6 q1  a7 q21 þ a8 q22 ¼ 0 (13)
where y, x are generalized coordinates of the main linear subsys-
tem and the nonlinear absorber, respectively. The mass of the where a1 ; :::; a8 are system parameters. Motions close to stable
absorber is essentially less than the mass of the main subsystem. equilibrium are studied in Ref. [18].
This is indicated by the small parameter e  1. Both nonlocalized Forced vibrations with large amplitudes of the snap-through
and localized NNMs exist in the system. Amplitudes of the main truss are the most suitable for the vibration absorption [19]. Then
linear subsystem and the absorber are comparable in the nonlocal- the main subsystem performs vibrations with small amplitudes
ized NNM. The localized NNM is favorable for absorption of and the absorber has significant amplitudes of the vibrations:
the linear subsystem vibrations, as vibrations amplitudes of the q1 ¼ OðeÞ; q2 ¼ Oð1Þ. The unperturbed motions (e ¼ 0) satisfy the
absorber and main subsystem are significant and small, respec- following equations:
tively. The theoretical background from Sec. 2.1 is used to con-  
struct NNMs. Zero approximation by a small parameter of the q€2 þ p2 q2 a5 þ a8 q22 ¼ 0; q1  0 (14)
nonlocalized NNM takes the form: y0 ¼ x þ ðc=cÞ x3 . Zero
approximation by small parameter of the localized NNM takes the
Jacobi elliptic functions are used to describe this mode. Modified
form: y0 ¼ 0. Power series in e are used to obtain NNMs. Ince
Rauscher method is used to determine the forced NNM of the sys-
algebraization is used to analyze the NNMs stability. It is shown
tem in Eq. (13).pNamely,
ffiffiffiffiffi the Eq. (14) solution takes the following
that the nonlocalized NNM is unstable in the large range of
form: t ¼ ðx=p a5 ÞFðu; kÞ, where Fðu; kÞ is the elliptic integral
system parameters and the localized NNM is stable for the most
of the second kind, k is the integral modulus. This solution is sub-
values of system parameters.
stituted into the term ef cosðxtÞ of the system in Eq. (13):
Similar procedures for calculations of the Kauderer–Rosenberg
NNMs of the system with impact absorber and linear subsystem
x
are proposed in Refs. [15,16]. The modal lines are calculated ef cosðxtÞ ¼ efgðuÞ ¼ ef cos pffiffiffiffiffi Fðu; kÞ (15)
using NNMs theory and nonsmooth functions developed by Pilip- p a5
chuk [6]. Ince algebraization permits to analyze NNMs stability.
Absorption of the linear subsystem by means of snap-through Function g(u) is described by the truncated Fourier series:
truss (Fig. 1), which jumps between three equilibrium positions, is
analyzed in Ref. [17]. Equations of the system motions for shal- pFðu; kÞ
low snap-through truss with respect to dimensionless variables gðuÞ ¼ cos  A1 cos u þ A3 cos 3u þ    (16)
2KðkÞ
and parameters are the following:
e
c e
c where K(k) is the complete elliptic integral of the first kind. The
q€1 þ ð1 þ e
cÞq1  q1 q22  2 q22 ¼ 0 expression in Eq. (16) is substituted into the right-hand part of the
q3 2q
(12) dynamical system of Eq. (13). As a result, the pseudoautonomous
c cb2 3
l q€2  ca2 q2  2 q2 q1 þ q ¼0 dynamical system is obtained and the Kauderer–Rosenberg NNM
q 2 2 of this system is calculated. Then the iteration procedure is used
to obtain a more precise NNM. Figure 2 shows the suitable NNM
where c; q; a; b are system parameters. Nonlocalized and localized for the forced vibration absorption.
NNMs are obtained analytically. A three-degree-of-freedom nonlinear vibrations isolation sys-
The localized NNM takes the following form: q1 ¼ eða0 þ a1 q2 tem (Fig. 3) is considered in Ref. [20]. This system is described
þ a2 q22 þ   Þ. This is a favorable motion for the vibration absorp- by the following ordinary differential equations:
tion, as main subsystem performs vibrations with small ampli-
tudes q1 ¼ OðeÞ and the absorber has moderate vibrations

Fig. 1 Mechanical system, consisting of linear subsystem and

snap-through truss. Adapted from Ref. [17]. Fig. 2 Absorption motion. Adapted from Ref. [17].

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 Fig. 4 The beam with nonlinear passive vibration absorber.
Adapted from Ref. [22].

the system in Eq. (18) can be reduced to the following two-

degree-of-freedom dynamical system:

q€1 þ eðq1  1Þ ¼ h1 v~ðq1 ; q2 Þ

Fig. 3 Mechanical system with nonlinear vibrations isolation.
Adapted from Ref. [20]. q€2 þ 16 eq2 ¼ 4q2 v~ðq1 ; q2 Þ (19)
   
v~ðq1 ; q2 Þ ¼ 0:5 0:5 q21  1 þ 2q22
m1 x€1 þ ec1 ðx_ 1  x_ 2 Þ þ f ðx1  x2 Þ ¼ FC ðtÞ
m2 x€2 þ ec1 ðx_ 2  x_ 1 Þ þ f ðx2  x1 Þ þ e kðx2  x3 Þ ¼ 0 Two NNMs of the system in Eq. (19) are investigated in
    Ref. [21]. The first NNM is described by weakly curved modal
m3 x€3 þ ec2 x_ 3  y_g ðtÞ þ g x3  yg ðtÞ þ ekðx3  x2 Þ ¼ 0
lines:
where f ðÞ; gðÞ are essential nonlinear elastic elements. Two X
q1 ¼ egðq2 Þ ¼ e bi qi2 (20)
external forces FC(t) and yg(t) act on the system. The machine,
i¼0
which is described by the generalized coordinates x1, x2, must be
isolated from the external excitation yg(t). The system is designed
where bi are parameters, which are calculated. If the trajectory in
to possess vibration isolation properties using strongly nonlinear
stiffness elements. The system under consideration possesses Eq. (20) is obtained, motions on NNM are determined by the fol-
localized NNMs whose energy is mainly confined in either one of lowing system:
its upper or lower parts. The Manevitch complexification tech-
nique is used in order to study the system dynamics. When this q€2 þ e16q2 þ e2 q2 g2 ðq2 Þ  q2 þ 4q32 ¼ 0 (21)
system is forced, the localized NNMs are excited by the periodic
forcing and the steady state response also becomes localized. This Equation (21) describes the system motions between three equili-
results in vibration isolation of the part of the system which con- briums. The harmonic balance method is used to obtain periodic
tains the least part of the steady state vibration energy. motions.
Use of the nonlinear stiffness introduces new localized steady The second NNM of the system in Eq. (19) is the following:
state responses which are beneficial for vibration isolation objec- q2  0. The harmonic balance method is used to construct these
tives. Localized steady responses are primarily responsible for motions. The Ince algebraization and the Hill determinants
fulfilling the dual mode vibration isolation objective. method are applied to analyze the NNMs stability in Refs. [2–4].
Vibrations of the beam interacting with essential nonlinear
2.3 Kauderer–Rosenberg NNMs of Discretized Structure absorber (Fig. 4) are considered in Ref. [22]. System motions are
Systems described by the following equations with respect to the dimen-
sionless variables and parameters:
2.3.1 Arch and Beam Systems. Vibrations of shallow arches ð1
are described by the following partial differential equations [21]: 1
ðL n r 2 ðwt t þ wxxxx Þ ¼ 0:5wxx w2x dx þ F0 d x  cosðX tÞ
EA  2 o 0 3
wx x w0;x ðwx Þ2 dx þ EI ðw  w0 Þxxxx þ qAwtt ¼ 0 1 1 3
2L 0 þd x K u  w ;t
(17) 2 2
3
where wxx ¼ @ 2 w=@x2 ; w(x, t) is the arch deflection; w0(x) is ini-  r 2 u€ þ K u  w 1 ; t
M ¼0 (22)
tial imperfections; A, I are area and moment of inertia of the cross 2
section; E, q are Young’s modulus and material density, and L is
arch length. Arch deflection is expanded by using eigenmodes of where w(x, t) is beam bending vibrations; u(t) is the generalized
a simply supported beam, sinðiðpx=LÞÞ; i ¼ 1; 2; :::. The finite- coordinate of the absorber; d(x) is the d function, and r is the
degree-of-freedom model of the arch dynamics is obtained in the radius gyration of the cross section. The absorber is attached in
following form: the middle of the beam. The external force acts at the point
x ¼ 0.5. Two modes are used to describe the beam vibrations:
q€1 þ e q1 ¼ ð1 þ q1 Þvðq1 ; q2 ; :::Þ wðx; tÞ ¼ r 2 ½q1 ðtÞ sinðp xÞ þ q2 ðtÞ sinð2pxÞ. Using the Galerkin
method, the following three degree-of-freedom dynamical system
q€i þ ei4 qi ¼ i2 qi vðq1 ; q2 ; :::Þ; i ¼ 2; 3; :::
! (18) is derived:
X n
2 2
vðq1 ; q2 ; :::Þ ¼ 0:5 q1 þ 0:5 i qi  
i¼1 q€1 þ p4 q1 þ e0:25p4 q21 þ 4q22 q1 ¼ e f0 cosðXtÞ þ e2K ðh  q1 Þ3
q€2 þ 16p4 q2 þ ep4 ðq21 þ 4q22 Þq2 ¼ e f0 cosðXtÞ
where qi(t) are generalized coordinates of the system. Using the
two first eigenmodes of bending vibrations and shifting the origin, Mh€ þ K ðh  q1 Þ3 ¼ 0 (23)

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 where h is the dimensionless generalized coordinate of the cylindrical shells. The Kauderer–Rosenberg NNMs are success-
absorber. The combination of NNMs and Rauscher methods is fully used to analyze large amplitude vibrations of the cylindrical
used to analyze the nonlinear vibrations. In zero approximation shells. Vibrations of shells with geometrical nonlinearity are
(e ¼ 0), it is assumed that q1 ¼ q2 ¼ 0 and the motions of the described by the Donnell equations [24]:
absorber take the form:
 D 4 1 @2U @ 2 w1
pffiffiffi r w1 ¼ Lðw1 þ w0 ; UÞ þ q 2
h ¼ hmax cn 2hmax vt; k ¼ hmax cos u (24) h R @x 2 @t (28)
1 4 1 1 @ 2 w1
pffiffiffi  r U ¼  Lðw1 þ 2w0 ; w1 Þ 
where cn 2hmax vt; kpffiffiffiffiffiffiffiffiffiffiffiffiffiffiffiffi
is the Jacobi function; hmax is the vibra- E 2 R @x2
tions amplitude; v ¼ K=ð2MÞ. Equation (24) is inverted and it
is obtained that where LðA; BÞ ¼ ð@ 2 A=@x2 Þð@ 2 B=@y2 Þ þ ð@ 2 A=@y2 Þð@ 2 B=@x2 Þ
2ð@ 2 A=@x@yÞð@ 2 B=@x@yÞ; D ¼ Eh3 =12ð1  l2 Þ; E is the Young
X modulus; l is the Poisson ratio; q is the shell material density;
cosðXtÞ ¼ cos pffiffiffi Fðu; kÞ ¼ A1 cos u þ A3 cos 3u þ    y; x ¼ Rh are longitudinal and circumference coordinates; w1 is
2hmax v
the radial displacements of the middle surface; U is the in-plane
(25) Airy stress function, and w0 is initial imperfections of the shell.
A two-degree-of-freedom nonlinear system, which is obtained
Equation (25) is substituted into the right-hand part of the system using the Galerkin method, is treated using the NNMs approach in
in Eq. (23) and the pseudoautonomous dynamical system is Ref. [2]. Dependences of the vibration frequencies on amplitudes
obtained. Using the iteration procedure, NNMs of the forced are obtained.
vibrations are obtained. As follows from the numerical simulation, Vibrations of the cylindrical shells with geometrical nonlinear-
the localized NNM takes place in a wide band of the excitation ity and initial imperfections are considered in Refs. [25,26]. Initial
frequency. imperfections have the following form:
Bending vibrations of the cantilever beam with a transverse
edge crack are studied in Ref. [23]. With nonlinear boundary mp y mp y
w0 ¼ f10 sin nh sin þ f20 sin nh sin (29)
conditions associated with the crack being open or closed, by L L
modeling the cracked beam as two linear configurations (open
crack and closed crack) the piecewise-linear two-degree-of-free- where n is a number of waves in the circumference direction; m is
dom system is obtained. This system takes the following form: a number of half-wave in the longitudinal direction; f10, f20 are
amplitudes of the initial imperfections. The shell radial deflections
m1 x€1 þ ½k1 þ k3 þ k2 Hðx1 Þx1  k3 x2 ¼ 0 are approximated as
(26)
m2 x€2  k3 x1 þ k3 x2 ¼ 0 mp y mp y
w1 ¼ f1 ðtÞ sin nh sin þ f2 ðtÞ sin nh sin
L L
where 2 mpy
þ f3 ðtÞ sin (30)
 L
1; x1 < 0
Hðx1 Þ ¼
0; x1 > 0 It is assumed that length of the middle surface transverse section
is constant
Spring k2 has small stiffness: k2 ¼ ek. In region x1 > 0, modal ð 2pR !
coordinates are used and the system in Eq. (26) takes the follow- w1 1 @w1 2
ing form: x€ þ x211 x ¼ 0; y€ þ x212 y ¼ 0: For x1 < 0, the system in  þ dy ¼ 0 (31)
0 R 2 @y
Eq. (26) has the following form:
  Equation (31) is reduced into the following relation: f3 ¼ ðn2 =4RÞ
x€ ¼  x211 þ a21 k2 x  a1 a2 k2 y
 2  ðf12 þ f22 Þ. The solution in Eq. (30) is substituted into the second
y€ ¼ a1 a2 k2 x  x12 þ a22 k2 y equation of the system in Eq. (28) and the Airy stress function is
calculated. Applying the Galerkin procedure to the first equation
NNM of the system in Eq. (26) is a small deviation from the line of the system in Eq. (28), a two-degree-of-freedom nonlinear
y ¼ 0. Therefore, this NNM can be presented as dynamical system is derived [27]:

f ðxÞ; x1 > 0 f€1 þ x21 f1 þ cf2 þ 2vf1 ðf_12 þ f1 f€1 þ f_22 þ f2 f€2 Þ þ c1 f1 ðf12 þ f22 Þ
yðxÞ ¼ e 1
f2 ðxÞ; x1 < 0
þ a1 f1 f2 þ a2 f12 þ a3 f22 ¼ x20 f10
Equations with respect to f1(x) and f2(x) are derived from the sys-
f€2 þ x22 f2 þ cf1 þ 2vf2 ðf_12 þ f1 f€1 þ f_22 þ f2 f€2 Þ þ c1 f2 ðf12 þ f22 Þ
tem in Eq. (26):
  þ b3 f1 f2 þ b1 f12 þ b2 f22 ¼ x20 f20 (32)
2h  x211 x2 f100  x211 xf10 þ x212 f1 ¼ 0 þ OðeÞ
  (27)
2h  x211 x2 f200  x211 xf20 þ x212 f2 ¼ ka1 a2 x þ OðeÞ where x0 ; xi ; c; v; c1 ; ai ; bi are the system parameters. As follows
from Refs. [25,26], the modal line of the system in Eq. (32) is
NNM in configuration space is obtained from Eq. (27). close to the rectilinear approximation f2 ¼ k f1. Parameter k is
determined by the initial imperfections: k ¼ f20/f10. Obtained
2.3.2 Cylindrical Shells. Thin, simply supported cylindrical NNM is stable and verified by numerical simulation of the
shells are considered. For such shells, frequencies of longitudinal system.
vibrations are significantly higher than frequencies of transverse Eigenfrequencies of the conjugate modes are close for a wide
motions. Therefore, the longitudinal inertia and shear are not class of cylindrical shells. Interaction of eigenmodes with close
taken into account. Shells with geometrical nonlinearity are frequencies is investigated in Refs. [28,29]. Donnell equations
considered; in this case, strains are small and displacements are with respect to displacements are used to analyze shell vibrations.
moderate. Standing and traveling waves take place in closed Shell radial deflections are expanded on NM eigenmodes as:

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 X
NM  py similarity of systems of nonlinear algebraic equations with respect
ðCÞ ðSÞ
w1 ðx; h; tÞ ¼ wj ðtÞcosnj h þ wj ðtÞsinnj h sin to vibrations amplitudes.
L
j¼1 Nonlinear vibrations of cylindrical shell in supersonic flow at
py 
the outer part of the shell are treated in Refs. [32,33]. The Donnell
þ w0 ðtÞsin4 (33)
L equations (Eq. (28)) are used to describe the shell vibrations with
geometrical nonlinearity. The first-order linear piston theory is
ðcÞ ðsÞ
where wj ; wj ; w0 are shell generalized coordinates. Since fre- used to approximate the aerodynamic pressure:
quency of the trial function sin4 ðp y=LÞ is significantly higher than
the eigenfrequencies of the eigenmodes cos nj h sinðpy=LÞ and 1
P ¼ vP1 wt þ M1 wx (39)
sin nj h sinðpy=LÞ, coordinate w0(t) is derived in the form of the a1
ðcÞ ðsÞ
function of generalized coordinates wj ; wj . Shell vibrations are
described by the following finite-degree-of-freedom dynamical where v is the polytrophic exponent; P1 is the free stream static
system: pressure, and M1 is Mach number. Shell deflection takes the
  following form:
ðCÞ ðCÞ ðCÞ ðCÞ
w€i þ x2i wi þ wi Ri wðSÞ ; wðCÞ þ Gi wðSÞ ; wðCÞ ¼ 0
  w ¼ q1 sin rx sin sy þ q2 sin rx cos sy þ q3 sin 2rx sin sy
ðSÞ ðSÞ ðSÞ ðSÞ
w€i þ x2i wi þ wi Ri wðSÞ ; wðCÞ þ Gi wðSÞ ; wðCÞ ¼ 0 þ q4 sin 2rx cos sy þ f ðx; tÞ (40)

i ¼ 1; :::; NM (34) Using the inextensibility condition of the middle surface in

ðCÞ ðSÞ
Eq. (31), the following expression for f* can be obtained:
where Ri ; Gi ; Gi are functions of the generalized coordinates.
As a result of the symmetry in the system in Eq. (34), two NNMs n2 h i
are observed: f ðx; tÞ ¼ ðq1 sin rx þ q3 sin 2rxÞ2 þ ðq2 sin rx þ q4 sin 2rxÞ2
4R
ðSÞ ðCÞ (41)
wi ¼ 6wi ; i ¼ 1; :::; NM (35)
Shell vibrations without initial imperfections are described by the
The nonlinear modes in Eq. (35) describe standing waves of four-degree-of-freedom nonlinear dynamical system:
cylindrical shells. Analysis of backbone curves of these NNMs is
presented in Ref. [28]. q€1 þ x21 q1 þ aq_ 1  b q3 ¼ Z1 ðqi ; q_ i ; q€i Þ
Parametric vibrations of cylindrical shells under the action
of longitudinal force Nx ðtÞ ¼ N0 þ N1 cosð2tÞ are treated in q€2 þ x21 q2 þ aq_ 2  b q4 ¼ Z2 ðqi ; q_ i ; q€i Þ
(42)
Refs. [30,31]. Vibrations of these shells are described by the q€3 þ x22 q3 þ a q_ 3 þ b q1 ¼ Z3 ðqi ; q_ i ; q€i Þ
Donnell equations (Eq. (27)). Dynamic deflection takes the fol-
lowing form: q€4 þ x22 q4 þ a q_ 4 þ b q2 ¼ Z4 ðqi ; q_ i ; q€i Þ

X
3
mpy where a ¼ vP1 =qha1 ; b ¼ ð8=3ÞðvP1 M1 =LhqÞ; Zi ; i ¼ 1; :::; 4
w1 ¼ ðq2i1 cos ni h þ q2i sin ni hÞ sin are nonlinear terms. The self-sustained vibrations of the shell are
i¼1
L described by NNMs. The modal line projections are close to the
mpy rectilinear curve q1 ¼ q2 ; q3 ¼ q4 and this line is close to ellipse
þ q7 sin2 þ q8 (36)
L in plane (q1, q3). Figure 5 shows the results of the NNMs numeri-
cal simulations in plane (q1, q3).
Generalized coordinates q7 and q8 are determined from quasi- Influence of the cylindrical shell initial imperfections on the
static analysis [30,31]. Then the vibrations are described by the self-sustained vibrations in supersonic flow is analyzed in the
following six-degree-of-freedom nonlinear dynamical system: Ref. [33]. Initial imperfections and the dynamical deflection are
chosen in the form of Eqs. (29) and (40), respectively. Analysis of
q€i þ x2i qi þ qi Ri ðq1 ; :::; q6 Þ þ Gi ðq1 ; :::; q6 Þ the four-degree-of-freedom dynamical system shows that NNMs
þ vi qi Nx ¼ 0; i ¼ 1; :::; 6 (37) are observed in the flutter region. These NNMs are close to the
rectilinear modal lines, which are observed in the system without
the flow.
where Ri is a quadratic form of the generalized coordinates; Gi are
cubic functions with respect to the generalized coordinates, and vi
are the system parameters. NNMs of the dynamical system in
Eq. (37) are the following:

q2i1 ¼ 6q2i ; i ¼ 1; 2; 3 (38)

These NNMs describe standing waves of the cylindrical shell

[30]. Nonlinear modes, which are straight lines in a configuration
space, are obtained for the multimode shells dynamics. The same
NNMs exist both in the system without damping and in the damp-
ing system.
Nonlinear modes and traveling waves are two types of the shell
motions. Normal modes and traveling waves coexist in the dimen-
sionless frequency bands  2 ½1; 1:6 and  2 ½1:1; 1:8. Any one
of these motions has a basin of attraction. Therefore, if the initial
conditions belong to the basin of attraction of nonlinear mode or
traveling waves, then the motion tends to this type of shell
motions. Frequency responses of the nonlinear modes and Fig. 5 NNMs of the self-sustained vibrations in plane
traveling waves are qualitatively similar. This is explained by the (P0 þ Pt cos2Xt)

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 3 Concept of Shaw–Pierre NNMs for Analysis of of partial differential equations in Eq. (45) and coefficients at the
Mechanical System Dynamics and Its Application same powers ui vj ; i ¼ 0; 1; :::; j ¼ 0; 1; ::: are equated. As a result,
a system of algebraic equations with respect to coefficients of
3.1 Fundamentals of General Theory. The Kauderer– expansions in Eq. (47) is obtained [34].
Rosenberg NNMs can be used to analyze large amplitudes NNM-based Galerkin projections are used to solve the system
motions. In particular, snap-through motions, when the system of partial differential equations in Eq. (45) in Refs. [35,36].
jumps between three equilibrium positions, are described by such A method for construction of forced vibrations NNMs is used
NNMs. However, the Kauderer–Rosenberg NNMs are mostly for the following two-degree-of-freedom system in Ref. [36]:
used to analyze mechanical systems without damping. The  
Shaw–Pierre NNMs do not possess this shortcoming. Fundamen- m1 q€1 þ k1 q1 þ b1 q31 þ k2 ðq1  q2 Þ ¼ f cos xf t
tals of the Shaw–Pierre NNMs theory are treated in Ref. [34]. The (48)
Shaw–Pierre concept is based on a determination of invariant m2 q€2 þ k2 ðq2  q1 Þ þ k3 q2 þ b2 q32 ¼ 0
manifolds. Finite-degree-of-freedom mechanical system in Eq. (3)
is considered. The damping can be taken into account. This sys- The system in Eq. (48) is transformed into principal coordinates
tem can be presented in a phase-space as: (g1, g2) and the linear damping is taken into account. Then the
system in Eq. (48) has the following form:
q_ i ¼ yi  
g€i þ 2ni xi g_ i þ x2i gi ¼ Fi ðg1 ; g2 Þ þ fi cos xf t
y_i ¼ fi ðq; yÞ (43) (49)
i ¼ 1; 2
i ¼ 1; :::; n
Master coordinates ðg1 ; y1  g_ 1 Þ are transformed into polar
where y ¼ ½y1 ; y2 ; :::; yn T . Following the Shaw–Pierre concept, all
coordinates g1 ¼ a cos /; g_ 1 ¼ x1 a sin /. NNM of the system in
phase variables of the system in Eq. (43) are defined by two
Eq. (49) takes the form
“master” (active) coordinates u  q1 ; v  y1 . Other phase coordi-
nates are named “slave” coordinates. NNM can be presented as    
g2 ¼ P2 a; /; /f ; y2  g_ 2 ¼ Q2 a; /; /f (50)
qi ¼ Zi ðu; vÞ; yi ¼ Yi ðu; vÞ
(44) where /f ¼ xf t. Then motions on NNM are described by the fol-
i ¼ 1; :::; n lowing equations [36]:

where Z1 ðu; vÞ ¼ u; Y1 ðu; vÞ ¼ v. Functions Zi ðu; vÞ; Yi ðu; vÞ are a_ ¼ 2n1 ax1 sin2 /  x1
1 ðF1 þ f1 cos /f Þ sin /
determined from the following system of nonlinear partial differ-
_
/ ¼ x1  n1 x1 sin 2/  x1 a1 ðF1 þ f1 cos / Þ cos / (51)
ential equations: 1 f

/_ f ¼ xf
@Zi ðu; vÞ @Zi ðu; vÞ 
Yi ðu; vÞ ¼ vþ f1 u; Z2 ðu; vÞ; :::; Zn ðu; vÞ;
@u @v NNM in Eq. (50) is determined from the following nonlinear par-

v; Y2 ðu; vÞ; :::; Yn ðu; vÞ tial differential equations:
fi ½u; Z2 ðu; vÞ; :::; Zn ðu; vÞ; v; Y2 ðu; vÞ; :::; Yn ðu; vÞ (45)
@P2  
@Yi ðu; vÞ @Yi ðu; vÞ  Q2 ¼ 2n1 ax1 sin2 /  x11 ðF1 þ f1 cos /f Þ sin / þ
¼ vþ f1 u; Z2 ðu; vÞ; :::; Zn ðu; vÞ; @a
@u @v @P2  
 þ x1  n1 x1 sin 2/  x1 1
v; Y2 ðu; vÞ; :::; Yn ðu; vÞ i ¼ 1; :::; n 1 a ðF1 þ f1 cos /f Þ cos /
@/
@P2
It is assumed, that the system of partial differential equations þ xf  2n2 x2 Q2  x22 P2 þ F2 þ f2 cos /f
@/f
in Eq. (45) is solved and functions Z2 ðu; vÞ; :::; Zn ðu; vÞ;
Y2 ðu; vÞ; :::; Yn ðu; vÞ are determined. Obtained functions are substi- @Q2    
¼ 2n1 ax1 sin2 /  x1
k F2 þ f2 cos /f sin /
tuted into the first two equations of the system in Eq. (43). As a @a
result, the following one-degree-of-freedom dynamical system is @Q2  
þ x1  n1 x1 sin 2/  x1 1
1 a ðF1 þ f1 cos /f Þ cos /
derived: @/
@Qi
u_ ¼ v; v_ ¼ f1 ½u; Z2 ðu; vÞ ; :::; Zn ðu; vÞ; v; Y2 ðu; vÞ; :::; Yn ðu; vÞ þ xf (52)
@/f
(46)
The method of solution of nonlinear partial differential equations
The system in Eq. (46) dynamics can be analyzed by analytical or
in Eq. (52) is discussed in Ref. [36].
numerical methods. In particular, the harmonic balance method
can be used.
Shaw and Pierre suggest several approaches to solve the system 3.2 Analysis of the Finite-Degree-of-Freedom Mechanical
in Eq. (45). In particular, if vibrations close to the equilibrium System. The Shaw–Pierre NNMs are widely used in applied
position qi ¼ yi ¼ 0; i ¼ 1; :::; n are analyzed, power series are mechanics. In this subsection, the dynamics of a finite-degree-of-
used to solve the system in Eq. (45), see Ref. [34]. NNMs take the freedom system is considered.
form: Coupled nonlinear dynamics of floating offshore platform is
treated in Ref. [37]. System dynamics is described by six-degree-
Zi ðu; vÞ ¼ a1i u þ a2i v þ a3i u2 þ a4i uv þ a5i v2 þ    of-freedom nonlinear system. The Shaw–Pierre NNMs are used to
Yi ðu; vÞ ¼ b1i u þ b2i v þ b3i u2 þ b4i uv þ b5i v2 þ    (47) investigate a damped system dynamics. In-plane and out-of-plane
normal oscillation modes of a vessel at the critical orientation
i ¼ 2; :::; n angle and around the zero in-plane tilt angle are treated. It can be
inferred from the results that around the zero equilibrium vessel
where a1i ; a2i ; :::; b1i ; ::: are unknown coefficients. In order to executes small amplitude in-plane oscillations. The NNMs analy-
obtain NNM, the series in Eq. (47) are substituted into the system sis allows for the capture of the nonlinear interaction of the saddle

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 type between these two modes, which could not be captured using
a linearized approach. For this vessel, near the stable orbit at the
zero in-plane tilt angle, the out-of-plane dynamics is of the saddle
type and the out-of-plane restoring is relatively small. However,
for the saddle orbit near the in-plane angle of vanishing stability,
the out of plane restoring becomes dominate in a relative sense.
Moreover, NNMs allow infer what will happen under external
wave excitation. In-plane and out-of-plane resonances are
expected which cannot be accurately predicted using a linearized
and uncoupled analysis.
Vertical dynamics of a double-tracked road vehicle with seven-
degrees-of-freedom is considered in Refs. [38,39]. The car is
described by a rigid body. The heave, roll, and pitch motions are
treated. Vertical displacements, the pitch angle, and the roll angle
are described by generalized coordinates z, a, and b, respectively.
Vertical displacements of the ith suspended mass xi are equivalent
to the wheel. Tires are described by elastic elements with linear
characteristics. Suspension is determined by nonlinear elastic
characteristics. Elastic forces of the suspensions f1(x) and f2(x)
are approximated by polynomials. Displacements of the rigid
body mass center are described by vector q ¼ ½z; a; bT and dis-
placements of the suspended masses are determined by vector
x ¼ ½x1 ; x2 ; x3 ; x4 . Difference between the displacements of the
body and the elements of the suspension is U ¼ ½U1 ; :::; U4 
¼ Hq  x, where H is a four dimension matrix. Suspension non-
linear characteristics are denoted by CNL ¼ ½f1 ðU1 Þ; f1 ðU2 Þ;
f2 ðU3 Þ; f2 ðU4 ÞT . The system of the ordinary differential equations
in the matrix form, which describes nonlinear vibrations of the
car, is the following:

MC q€ þ H T CNL þ H T KV ¼ 0
(53)
MS x€  CNL þ Cx  KV ¼ 0

where V ¼ H q_  x_ is the velocity vector; MC is the matrix of the Fig. 6 NNM of a piecewise linear system with a shock
car inertia; MS is the matrix of the suspension inertia; C is the ma- absorber. Projections of invariant manifolds on (u, v, x2) and (u,
trix of tire stiffness, and K is the damping matrix. Shaw–Pierre v, x2) are shown on figures (a) and (b), respectively.
NNMs are used to study the dynamics of the system in Eq. (53).
If nonlinear elastic characteristics of suspensions are taken into
account, the quarter-car model has piecewise linear or piecewise
nonlinear characteristics of shock absorbers [38,39]. The invariant
manifold with master coordinates (u ¼ x1 ; v ¼ x_ 1 ) and the motion
along the first NNM is presented in Fig. 6.
Motions of the rotor- bearing system are studied using the
Shaw–Pierre NNMs in Ref. [40]. One-disk rotor dynamics is
described by a two-degree-of-freedom system with the cubic non-
linearity of elastic characteristic. Two generalized coordinates
describe the rotor dynamics in two perpendicular directions.
Vibrations are described by the following system of ordinary dif- Fig. 7 Outline of the one-disk rotor
ferential equations in the matrix form [40]:

q þ ðC þ XGÞq_ þ Kq þ Cq3 ¼ 0
M€ (54) bearing is used to obtain the pressure acting on the journals. The
rotor dynamics is described by the following equations:
where M is the symmetric mass matrix; K is the symmetric stiff-
ness matrix; C is the symmetric damping matrix, and G is the x  F~x ðx2 ; y2 Þ  F~x ðx1 ; y1 Þ ¼ 0
m€
skew symmetric gyroscopic matrix. Term C q3 represents a stiff-
ness type of nonlinearity with diagonal matrix of coefficients C. Ie h€2  Ip Xh_1  l2 F~x ðx2 ; y2 Þ þ l1 F~x ðx1 ; y1 Þ ¼ 0
Two Shaw–Pierre NNMs are calculated in the system in Eq. (54). (55)
y  F~y ðx1 ; y1 Þ  F~y ðx2 ; y2 Þ ¼ 0
m€
Nonlinear dynamics of the one-disk rotor (Fig. 7) is treated in
Refs. [41,42]. The rotor consists of a rigid disk and an elastic Ie h€1 þ Ip Xh_2  l1 F~y ðx1 ; y1 Þ þ l2 F~y ðx2 ; y2 Þ ¼ 0
shaft; the mass of the shaft is not taken into account. The shaft is
supported by two short-length journal bearings. As a result of the
where m; Ip ; Ie are mass and moments of the disk inertia;
disk vibrations, the journals A and B are moved. These bearings
F~x ðx1 ; y1 Þ; F~y ðx1 ; y1 Þ and F~x ðx2 ; y2 Þ; F~y ðx2 ; y2 Þ are projections of
motions are described by generalized coordinates ðx1 ðtÞ; y1 ðtÞÞ
forces acting on the bearings A and B, respectively. Nonlinear
and ðx2 ðtÞ; y2 ðtÞÞ. Two journal bearings are identical. The rotor
forces F~x ; F~y are expanded into the Taylor series and dimension-
rotates with constant angular velocity X about the z axis. The rigid
less variables and parameters are used. As a result, the following
disk motions are described by four-degrees-of-freedom. General-
dynamical system in matrix form is obtained [41,42]:
ized coordinates (x, y) and (h1, h2) describe motions of the disk
gravity center and the disk rotation about axes x, y, respectively.
The analytical solution of the Reynolds equation for short-length q þ ½Gq_ ¼ ½K1 q þ ½D1 q0 þ Wðq1 ; q01 Þ
½M€ (56)

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 where q ¼ ½x; h1 ; y; h2 T ; q1 ¼ ½x~1 ; y~1 ; x~2 ; y~2 T ; q is a vector of the The Shaw–Pierre NNMs in conjunction with the modified
disk generalized coordinates; q1 is a vector of the generalized Rauscher method [2,4,46] are used to analyze forced nonlinear
coordinates of the bearings, and W ¼ ðw1 ; :::; w4 ÞT is the nonlinear vibrations of the system in Eq. (57) with 1:1 internal resonance.
part of the fluid film forces. The Shaw–Pierre NNMs are used to NNMs approach permits to reduce eight-degree-of-freedom
analyze self-sustained vibrations of the system in Eq. (56) with nonlinear of the system in Eq. (57) to a two-degree-of-freedom
small amplitudes. Unstable limit cycles originate due to the Hopf nonlinear system. These reduced systems are analyzed by the
bifurcation. These limit cycles undergo saddle–node bifurcation. harmonic balance method. The frequency response near the first
The origin of the rotor self-sustained vibrations is studied by the resonance is calculated. The disk gravity center performs
NNM approach. The harmonic balance method and shooting tech- motions, which are essentially different from a circle. The tra-
nique are used to analyze the rotor self-sustained vibrations with jectories of the resonance vibrations in the system configuration
moderate amplitudes. As follows from the results of the numerical space are shown in Fig. 8. Stability analysis of the NNMs
analysis of the rotor self-sustained vibrations, both monoharmonic shows that, in this frequency range, a pair of new motions is
and polyharmonic vibrations are observed. appeared. These motions can be found by the NNMs approach
Nonlinear dynamics of the one-disk rotor in two ball bearings too. In these regimes, the disk center circumscribes elliptic-type
(Fig. 7) is considered in Refs. [39,43–45]. The ball bearings on trajectories.
the nonlinear supports are placed in the points A and B. These Warminski [47] analyzed the self-sustained vibrations of two-
bearings are presented by the lumped masses. Nonlinear springs degree-of-freedom mechanical system:
are attached to these masses to describe nonlinear elastic proper-
ties of the bases. The rotor motions are described by eight general-
m1 q€1 þ ðb1 q_ 21  a1 Þq_ 1 þ d1 q1 þ c1 q31 þ d12 ðq1  q2 Þ ¼ 0
ized coordinates. The gravity center of the disk is placed on the (58)
distance from the rotor rotation axis. Therefore, the forced vibra- m2 q€2 þ ðb2 q_ 22  a2 Þq_ 2 þ d2 q2 þ c2 q32  d12 ðq1  q2 Þ ¼ 0
tions of the one-disk unbalanced rotor with the elastic shaft on
nonlinear flexural base are considered. Gyroscopic effects, nonlin-
ear flexible base, inertial forces of supports and internal resonan- The Shaw–Pierre NNMs are determined. NNMs are applied to
ces are taken into account. Equations of the system forced decouple motions of the system. Two separate limit cycles have
vibrations are the following: been obtained. For a system with four potential wells the response
can be regular or chaotic.
x2  x1  Free vibrations of piecewise linear n-degree-of-freedom system
m€ x þ q1 x_ þ c11 ðx  h1 x2  h2 x1 Þ þ c12 h2 
l are treated by Chen and Shaw [48]. This system takes the follow-
¼ eX2 m cos Xt ing form:
y2  y1  (
m€ y þ q1 y_ þ c11 ðy  h1 y2  h2 y1 Þ þ c12 h1  q þ K1 q ¼ 0;
M€ hT q d0
l
(59)
¼ eX2 m sin Xt q þ K2 q ¼ b;
M€ hT q > d0
y2  y1 
Ie h€1 þ q2 h_1 þ Ip Xh_2  c21 ðy  h1 y2  h2 y1 Þ þ c22 h1 þ
l where h; b 2 Rn ; M, K1, K2 are real, symmetric, positively definite
¼0 n n matrix. Analytical solutions for two linear parts are used to
x2  x1  construct the Poincare sections. It is assumed that the first general-
Ie h2 þ q2 h_2  Ip Xh_1 þ c21 ðx  h1 x2  h2 x1 Þ þ c22 h2 
€
ized velocity on the Poincare sections hT q ¼ d0 is small. The
l
asymptotic solutions for the Poincare sections are constructed by
¼0 this generalized velocity. It is justified that the obtained motions
x2  x1  are NNMs. From the expression for these NNMs, the modal
m1 x€1 þ bx_1 þ s1 ðx  h1 x2  h2 x1 Þ þ s2 h2 
l dynamics and the frequency responses are obtained.
þ cð1Þ x þ c ð2Þ 3
x ¼ 0 Piecewise linear n-degree-of-freedom system is treated in
x 1 x 1
Ref. [49]. This system can be presented in the following form:
y2  y1 
m1 y€1 þ by_1 þ s1 ðy  h1 y2  h2 y1 Þ  s2 h1 þ
l g€ þ K1 g ¼ f ðgÞ (60)
þ cð1Þ
y y 1 þ c ð2Þ 3
y y 1 ¼ 0
x2  x1  where g 2 Rn is the vector of modal co-ordinates; K1 is n n
m2 x€2 þ bx_2 þ s3 ðx  h1 x2  h2 x1 Þ þ s4 h2 
l diagonal matrix; f ðgÞ 2 Rn is piecewise linear vector of forces.
ð1Þ ð2Þ 3
þ kx x2 þ kx x2 ¼ 0 The Galerkin approach is applied to construct NNMs for the
piecewise linear systems. Transformation from master coordinates
y2  y1 
m2 y€2 þ by_2 þ s3 ðy  h1 y2  h2 y1 Þ  s4 h1 þ ðgk ; g_ k Þ to amplitude and phase co-ordinates (a, /) is the
l following:
þ kyð1Þ y2 þ kyð2Þ y32 ¼ 0 (57)
gk ðtÞ ¼ aðtÞ cos /ðtÞ
(61)
where q1, q2 are parameters of the disk linear damping; c11, c12, g_ k ðtÞ ¼ xk aðtÞ sin /ðtÞ
ð1Þ ð1Þ
c22 are elements of the shaft stiffness matrix; cð1Þ ð1Þ
x ; kx , cy ; k y
ð2Þ ð2Þ ð2Þ ð2Þ
are linear stiffness coefficients of the base, and cx ; kx , cy ; ky where xk is the kth natural frequency of the linear system in the
are coefficients of nonlinear stiffness. Generalized coordinates first region of Eq. (59). On the invariant manifold, all slave coor-
and notations of the parameters of the system in Eq. (57) coincide dinates are functions of master coordinates (a, /):
with notations of the system in Eq. (55).
Masses of the rotor journals bearings are not taken into account gi ¼ Pi ða; /Þ
in Ref. [43]. Then the last four equations of the system in Eq. (57) (62)
g_ i ¼ Qi ða; /Þ; i ¼ 1; :::; n; i 6¼ k
describe equilibrium of the journal bearings. Thus, equations of
the system motions consist of four nonlinear ordinary differential
equations and four nonlinear algebraic equations. The supports Functions Pi, Qi satisfy the following system of partial differential
inertia is taken into account in Refs. [39,44,45]. equations:

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 Fig. 8 Trajectories of the resonance motions in configuration space. Points and
circles denote results, which are obtained by harmonic balance method and NNM
approaches, respectively. The results of numerical simulations are shown by solid
lines.

fk @Pi @Pi fk cos / elements [35,51]. The beam is pinned at one end and the other one
Qi ¼  sin / þ xk  is constrained by a linear spring. A nonlinear torsional spring with
xk @a @u axk
quadratic and cubic nonlinearities is located at the pinned end.
fk @Q i @Q i f k cos / (63)
x2i Pi þ fi ¼  sin / þ xk  The Galerkin-based approach is used to analyze NNMs. The
xk @a @/ axk finite-element based calculations emphasizes that practical appli-
i ¼ 1; :::; n; i 6¼ k cation of NNMs is not limited to highly idealized, analytically
tractable systems.
The Galerkin method is used to analyze the system in Eq. (63). Longitudinal-flexural vibrations of the Euler–Bernoulli rotating
The solution of this system is presented in the form of truncated cantilever beam (Fig. 9), which is the model of rotorcraft blade,
series: are treated in Refs. [52,53]. Beam geometrical nonlinearity is
XX taken into account. Longitudinal displacements of the beam are
Pi ða; /Þ ¼ Ci;l;m Tl;m ða; /Þ divided into static equilibrium us(x) and vibrations ud(x,t). Vibra-
l¼1 m¼1
XX tions of the beam are described by the following system of the
(64)
Qi ða; /Þ ¼ Di;l;m Ul;m ða; /Þ partial differential equations:
l¼1 m¼1
us;xx þ k2 u ¼ k2 ðh þ xÞ
where Tl;m ; Ul;m are trial functions and Ci;l;m ; Di;l;m are unknown ud  mX2 ud  EAud;xx ¼ 0
m€ (66)
coefficients.  
The series in Eq. (64) is substituted into Eq. (63) and weak sol- € þ EIwxxxx  EA us;x wxx þ us;xx wx ¼ 0
mw
utions are constructed. A system of nonlinear algebraic equations
with respect to Cilm and Di;l;m is derived. Solving this system of Static displacements are obtained exactly in the analytical form.
nonlinear algebraic equations, the NNM Eq. (64) is obtained. Motions ud, w are expanded into truncated series using the trial
The dynamic response on each NNM manifold can be reduced functions. Using the Galerkin method, the finite-degree-of-free-
to a single-degree-of-freedom system described in terms of master dom dynamical system is obtained. Then, the nonlinear equations
coordinates. Dynamic behavior of the piecewise linear systems of motion are reduced using a procedure based on the invariant
NNM can be quite complicated. This includes loops in manifolds manifold formulation of NNMs. The invariant manifold solution
and instabilities leading to a variety of system responses. Stability is shown to be quite accurate and the corresponding single degree
and postcritical dynamics of NNMs are investigated using charac- of freedom reduced-order model yields results which agree nearly
teristic multipliers and Poincare map. Flip bifurcations and transi- exactly with those of the original system. This approach accu-
tions to quasi-periodic response are found. rately models the critical dynamic coupling between the axial
and transverse beam displacements, as well as the coupling within
3.3 Analysis of Discretized Structure Systems Using the the set of transverse modes through amplitudes of considerable
Shaw–Pierre NNMs magnitude.
Nonlinear vibrations of rotating beam (Fig. 9), which are
3.3.1 Beams Structures. Applications of the Shaw–Pierre described by the system in Eq. (66), are analyzed in Ref. [54].
NNMs for bending vibrations of beams, which are supported by Internal resonance is taken into account. Multimode invariant
nonlinear springs, are treated in Refs. [35,50,51]. Beam bending manifolds are used to analyze the nonlinear vibrations.
vibrations are described by the following partial differential equa- Vibrations of a clamped-clamped beam are analyzed taking
tion [50]: into account nonlinear relations for longitudinal force in Ref. [55].
This system is described by the following integro-partial-differen-
€ þ EIwxxxx þ cw3 dðx  0:5Þ ¼ 0
qAw (65) tial equation:

where q is a density of the beam material; A, E, I are typical

beam parameters, and dðx  0:5Þ is the d-function. Beam bending
vibrations are expanded using their eigenmodes. The obtained
n-degree-of-freedom dynamical system is studied using the
Shaw–Pierre NNMs.
The finite element code PATRAN is used to obtain a linear model
of beam transverse vibrations using 200 two-noded beam finite Fig. 9 Outline of rotating beams. Adapted from Ref. [52].

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 Fig. 10 Pretwisted beam with variable cross section

ðL
EA Fig. 11 Parametrically excited beam
€ þ EIwxxxx 
mw wxx w2x dx ¼ 0 (67)
2L o

center. The nonlinear system of the integro-partial-differential

Notations of the system in Eq. (65) are retained. Using the stand- equation in Eq. (68) is transformed into a system of ordinary dif-
ard Galerkin approach, the finite-degree-of-freedom dynamical ferential equations using the Galerkin approach. The Shaw–Pierre
system is derived. The Shaw–Pierre NNMs are applied to this dy- NNMs are used to reduce this system to one-degree-of-freedom
namical system. oscillators, which describe motions on invariant manifolds. Influ-
Flexural-flexural-torsional vibrations of a pretwisted beam with ence of the cross-section warping on the backbone curve behavior
variable cross section (Fig. 10) are analyzed in Refs. [56,57]. The is treated in Ref. [57]. It is shown that certain hard backbone
beam rotates with constant angular velocity X. Geometrical curves, which are obtained without taking into account warping,
nonlinearity is taken into account in the system model. A detailed are transformed into soft ones if warping is included.
derivation of the equations of such beam motions is presented in Parametric vibrations of a flexible beam with a lumped mass
Ref. [56]. These equations have the following form: at the end (Fig. 11) are treated in Ref. [58]. Vibrations of this sys-
 00 h 0 i tem are described by the following integro-partial-differential
00
E w00 J1g þ Eðv00 J1 Þ m1ð1Þ h€x þ m€
v þ mX2 xv0  x hx 1ð1Þ equation:
þ L1 ðu; v; wÞ ¼ 0  ðL 
   2
 00  00 h 0 i EJwxxxx þ 0:5EJ wxx w2x xx þ wxx Pt cosð2XtÞ  0:5M wx tt ds
E w00 Jg þ E v00 J1 g þ mgð1Þ h€x þ mw
€ þ mX2 xw0 þ x hx gð1Þ 0
þ mwtt  ðNwx Þx ¼ 0
þ L2 ðu; v; wÞ ¼ 0 ðl ð s1
 0 h  i  2
 Dn h0x þ m 1ð1Þ2 þ gð1Þ2 þ In h€x þ mgð1Þ w €  m1ð1Þ v€ N ¼ 0:5m ds1 wx tt ds2 (69)
s 0
h i
þ X2 m1ð1Þ v þ I1g ðxÞ þ xw0 mgð1Þ  xv0 m1ð1Þ þ L3 ðu; v; wÞ ¼ 0
where Pt cosðXtÞ is the longitudinal force;M is the mass attached
00 ð L   to the beam. The summand 0:5EJ wxx w2x xx defines contribution
L1 ¼ 2mX2 vv _ 0 þ hx 1ð1Þ  v 2Xmv_ þ X2 mx dx of
0 Ð L  nonlinearity
2
 into the beam curvature; summands 0:5Mwxx
 00 00   00 0 0 wx tt ds, ðNwx Þx describe a nonlinear inertia. Transversal dis-
 2E hx v J1 g þ E hx w J1  Jg  4mXv_ hx 1ð1Þ
00
placements are expanded using the first two eigenmodes of the
beam. Beam vibrations are described by the following two-
 2Xðmv_Þ0 hx 1ð1Þ degree-of-freedom system:
00 ð L  
0
L2 ¼ 2Xmv_ w  w þ hx g ð1Þ
2Xmv_ þ X2 mx dx     
x q€1 þ p4 q1 þ c1 q31 þ c2 q1 q22 þ q1 2c3 q_ 21 þ q1 q€1 þ 2c4 q_ 22 þ q2 q€2
  00  00 0    
þ E hx v00 J1  Jg þ 2E hx w00 J1 g þ 4mXv_ hx gð1Þ þ c5 ðq1 q€2 þ q2 q€1 þ 2q_ 1 q_ 2 Þ þ q2 2c7 q_ 21 þ q1 q€1
  
þ 2c8 q_ 22 þ q2 q€2 þ c6 ðq1 q€2 þ q2 q€1 þ 2q_ 1 q_ 2 Þ
þ 2Xgð1Þ hx ðmv_Þ0
 ðL   q1 f1 cosð2XsÞ ¼ 0
L3 ¼ 1ð1Þ v00  gð1Þ w00 2X m v_ þ X2 m x d x     
q€2 þ 16p4 q2 þ b1 q32 þ q2 2b3 q_ 21 þ q1 q€1 þ 2b4 q_ 22 þ q2 q€2
 x      
þ E w00 J1 g þ v00 J1 w00  E w00 J g þ v00 J1 g v00 (68) þ b5 ðq1 q€2 þ q2 q€1 þ 2q_ 1 q_ 2 Þ þ q1 2b7 q_ 21 þ q1 q€1
 2  
þ 2b8 q_ 2 þ q2 q€2 þ b6 ðq1 q€2 þ q2 q€1 þ 2q_ 1 q_ 2 Þ
where J1 ; Jg ; J1 g ; Dn are inertia moments of the beam cross-
section; ðgð1Þ ; 1ð1Þ Þ are coordinates of the cross-section gravity þ b2 q2 q21  4q2 f1 cosð2XsÞ ¼ 0 (70)

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 A combination of the Rauscher method and the Shaw–Pierre
NNMs are used to analyze the system in Eq. (70). Properties of
parametric vibrations are treated using the frequency response. If
the frequency of the parametric force is increased, the stable beam
equilibrium is transformed into unstable one and unstable periodic
motions originate. If the frequency of the parametric force is
increased further, the unstable beam equilibrium becomes stable
and stable periodic vibrations restore.
Bending vibrations of a simply supported beam on a nonlinear
elastic base are analyzed in Ref. [59]. Beam vibrations are
described by the following partial differential equation in dimen-
sionless form:

wtt þ wxxxx þ a2 w2 þ a3 w3 ¼ 0 (71)

The system in Eq. (71) is reduced to the finite-degree-of-freedom

dynamical system, which is studied by nonlinear forms of ordi- Fig. 12 Shallow shell with complex base
nary differential equations.
Two-link flexible arms connected by a nonlinear torsion spring
are considered in Ref. [60]. A three degree-of-freedom dynamical The Donnell equations with respect to u, v, w are used to describe
model describes the system vibrations. The multiple scales the shell dynamics:
method is applied to construct NNMs.
Forced vibrations of a shallow arch, which are described by @2u 1  l @2u 1 þ l @2v   @w @w @ 2 w
Eq. (17), are studied in Ref. [46]. In this case, the external time- 2
þ 2
þ  Kx þ lKy þ
@x 2 @y 2 @x@y @x @x @x2
periodic excitation is included into Eq. (17). The dynamic deflec-
tion takes the following form: 1 þ l @w @ 2 w 1  l @w @ 2 w 1  l2 @ 2 u
þ þ 2
q ¼0 (73)
2 @y @x@y 2 @x @y E @t2
X
2
wðx; tÞ ¼ ½ki þ qi ðtÞ sinðipxÞ @2v 1  l @2v 1 þ l @2u   @w @w @ 2 w
i¼1 þ þ  K y þ lK x þ
@y2 2 @x2 2 @x@y @y @y @y2
where ki describe small initial imperfections. A two-degree-of- 1 þ l @w @ 2 w 1  l @w @ 2 w 1  l2 @ 2 v
þ þ q ¼0 (74)
freedom nonlinear dynamical system is obtained in the form: 2 @x @x@y 2 @y @x 2 E @t2

q€1 þ p4 q1 þ 0:25p4 ðq1 þ k1 Þlðq1 ; q2 Þ ¼ 2f cosðXtÞ h2 4   @u   @v

4 4 r w  Kx þ lKy  Ky þ lKx
q€2 þ 16p q2 þ p ðq2 þ k2 Þlðq1 ; q2 Þ ¼ 0 (72) 12 @x @y
  
lðq1 ; q2 Þ ¼ q1 ðq1 þ 2k1 Þ þ 4q2 ðq2 þ 2k2 Þ K x þ lK y @w 2
þ Kx2 þ Ky2 þ 2lKx Ky w 
2 @x
A combination of the Rauscher method and the Shaw–Pierre  
Ky þ lKx @w 2 @ @w @u @v  
NNMs is used to analyze the system in Eq. (72). Frequency   þ l  Kx þ lKy w
responses of the system forced vibrations are obtained. These 2 @y @x @x @x @y
responses in the regions of the main resonance have soft/hard 1  l @w @u @v @ @w @u @v
behavior. The Shaw–Pierre NNMs are applied to analyze dynam- þ þ  l þ
2 @y @y @x @y @y @x @y
ics of frames in [61].
1  l @w @u @v
Nonlinear dynamics of rotating shaft supported by two journal  Ky þ lKx w þ þ
bearings is investigated in Ref. [62]. The shaft flexural vibrations 2 @x @y @x
are expanded using the eigenmodes. Interaction of the journal 1  l2 @ 2 w
bearings oil films with the shaft leads to self-sustained vibrations, þq ¼ 0 ðx; yÞ 2 K (75)
E @t2
which appear due the Hopf bifurcation. The Shaw–Pierre NNMs
are used to analyze the shaft motions. where Kx and Ky are principal curvatures; h is the shell thickness;
In Ref. [63], NNMs are used to analyze nonlinear vibrations of q is the material density, and K is the shell base on the plane
beams. The finite element method is used to obtain a finite- (x, y). Displacements of the middle surface points are indicated by
degree-of-freedom model of nonlinear vibrations. As a result, a u, v, and w in thex, y, and z directions, respectively.
thirty-degree-of-freedom mechanical system is obtained, which is The R-function theory developed by Rvachov is used [7,67].
analyzed by NNMs. R-functions describe complex boundary of shallow shells bases.
R-functions x ~ ðx; yÞ are equal to zero on the shell boundary and
positive inside the shell base [65,68]. Shell linear vibrations are
3.3.2 Plates and Shells Analysis. Self-sustained vibrations of presented as
a plate in a fluid flow are investigated in Ref. [64]. These vibra-
tions are described by a high dimensional system of ordinary ~ ðx; yÞP1 ðx; yÞ cosðxtÞ
uðx; y; tÞ ¼ x
differential equations. As a result of the Hopf bifurcation, self-
sustained vibrations of a plate arise. These motions are studied by ~ ðx; yÞP2 ðx; yÞ cosðxtÞ
vðx; y; tÞ ¼ x (76)
the Shaw–Pierre NNMs.
A clamped shallow shell with complex base (Fig. 12) is investi- ~ 2 ðx; yÞP3 ðx; yÞ cosðxtÞ
wðx; y; tÞ ¼ x
gated in Refs. [65,66]. The shell is thin; frequencies of longitudi-
nal vibrations are significantly higher then frequencies of Nonlinear vibrations of the shell are expanded using eigenmodes,
transverse motions. Therefore, longitudinal inertia and shear are which contain R-functions. Applying the Galerkin method, a
not taken into account. Shells with geometrical nonlinearity are three-degree-of-freedom dynamical system with internal resonan-
considered; then strains are small and displacements are moderate. ces is derived in the form of Eq. (43). A multimode invariant

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 where H ¼ ðu; v; wÞ; LðHÞ; MðHÞ are operators of elastic and
mass forces, and P is a pressure drop. Linear flexural vibrations of
the shell are presented in the following form: wðx; tÞ ¼ wðxÞ
expðixtÞ. Velocity circulation of the vibrating shell is determined
from the singular integral equation:

ðð
1 @2 1
Cð1Þ dS1 ¼ ixwðxÞ (79)
4p S @nx @n1 jx  1j

where C(1) is the density of circulation; nx is the surface normal.

The density of circulation describes the shell interaction with a
fluid. The vortex method [70] is used to solve the singular integral
equation. The fluid kinetic energy is taken into account in the fol-
lowing form:
ð
1 @U
K ¼ q2 U dS
2 S @nx

where q2 is fluid density. As a result of a linear analysis, wet

eigenmodes Wk ðxÞ; Uk ðxÞ; Vk ðxÞ are obtained numerically. Shell
flexural vibrations w(x, t) are expanded by using these eigenmodes
Fig. 13 Base of a shallow shell with variable thickness and finite-degree-of-freedom dynamical system is obtained. Then
the Shaw–Pierre NNMs are determined for this system. Results of
the analysis are shown on the backbone curves. It is obtained that
manifold is used to analyze free nonlinear vibrations of the shell. all backbone curves are hard. However, at a certain value of
Results of the analysis are shown on the frequency responses. amplitudes, free nonlinear vibrations lose stability and NNMs
Calculations of the plate free vibrations by one mode model are become unstable at great vibrations amplitudes.
carried out. In this case, the backbone curve is soft. A three modes
model of the plate is analyzed numerically. It is shown that behav- 4 Nonlinear Normal Modes of Continuous Systems
ior of a system with three degrees of freedom essentially differs
from the free vibrations of a system with one degree of freedom. Continuous nonlinear modes (CNMs) are used for direct solu-
Stability of free nonlinear vibrations is lost at certain values of tion of a distributed mechanical system. Theoretical investigations
amplitudes and vibrations are unstable at greater values of on this subject are considered in Refs. [1,3]. CNMs are divided
amplitudes. into two types: Shaw–Pierre CNMs and King–Vakakis CNMs.
Vibrations of a shallow shell with a complex base and variable The Shaw–Pierre CNMs are suggested in Ref. [71]. These non-
thickness are treated in Ref. [69]. The outline of the shell base is linear modes are used to analyze flexural vibrations of a beam on
shown in Fig. 13. Shell vibrations in immovable, inviscid, incom- a nonlinear base:
pressible, and potential fluid are analyzed. Potential energy of this
shell takes the following form: wt ¼ v ; vt ¼ Fðwðx; tÞ; vðx; tÞÞ ¼ wxxxx  kw  cw3 (80)
ð 
E 1 2  h3 ða;bÞ The beam is considered simply supported:
P¼ e11 þ2le11 e22 þe222 hða;bÞþ
2ð1þlÞ K 1l 12
 wð0; tÞ ¼ wð1; tÞ ¼ wxx ð0; tÞ ¼ wxx ð1; tÞ ¼ 0 (81)
 2  1 1
v1 þ2lv1 v2 þv22 þ e212 hða;bÞþ j2 h3 ða;bÞ ABdadb
2 3 CNMs are represented as two-dimensional invariant manifolds.
(77) These manifolds are touched on the proper subspace of linearized
system in equilibrium and pass through equilibrium ðw; vÞ
where e11, e22, e12 are middle surface strains; v1 ; v2 ; j are curva- ¼ ð0; 0Þ. CNMs take the following form:
tures and torsion of the middle ða;ffi bÞ is the variable
pffiffiffiffiffiffiffi surface; phffiffiffiffiffiffi
thickness of the shell; A ¼ g11 and B ¼ g22 are Lame parame- wðx; tÞ ¼ Uðw0 ðtÞ; v0 ðtÞ; x; x0 Þ ; vðx; tÞ ¼ Vðw0 ðtÞ; v0 ðtÞ; x; x0 Þ
ters, and g11 and g22 are coefficients of the first quadratic form of (82)
the middle surface. The integrals in Eq. (77) are taken over the
area of the shell base K (Fig. 13). Two orthogonal directions, where w0 ðtÞ ¼ wðx0 ; tÞ; v0 ðtÞ ¼ vðx0 ; tÞ; U, V are certain functions.
which are lines of the principle curvatures, are taken on the shell Dynamics of the system on CNM is described by a one-degree-of-
middle surface. Curvilinear coordinates a and b are counted off freedom nonlinear oscillator. CNMs are synchronous motions and
along these lines. The third axis z is directed orthogonally to the they are a generalization of the Shaw–Pierre NNMs for a finite-
plane base. degree-of-freedom system. Functions Uðw0 ðtÞ; v0 ðtÞ; x; x0 Þ;
Fluid motions around the shell are assumed to be nonrotational. Vðw0 ðtÞ; v0 ðtÞ; x; x0 Þ satisfy the following system of hyperbolic
The velocity potential U satisfies the Laplace equation. Boundary partial differential equations:
conditions on the shell surfaces have the following form:
Un ðx; tÞjS6 ¼ wt ðx; tÞjS6 , where U(x, y) is the velocity potential; Sþ @U @U
and S are upper and lower plate surfaces, respectively; n is nor- V¼ v0 þ ½FðU; VÞX¼X0
@w0 @v0
mal to the shell surface. Equations of the shell vibrations interact- (83)
@V @V
ing with a fluid can be presented in the following operational FðU; VÞ ¼ v0 þ ½FðU; VÞX¼X0
@w0 @v0
form:
This system is completed with the boundary conditions in
LðHÞ þ MðHÞ ¼ P (78) Eq. (81).

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 Manifold (Eq. (82)) takes the form of asymptotic series:

Uðw0 ; v0 ; x; x0 Þ ¼ a1 ðx; x0 Þw0 ðtÞ þ a2 ðx; x0 Þv0 ðtÞ

þ a3 ðx; x0 Þw20 ðtÞ þ ::::
(84)
Vðw0 ; v0 ; x; x0 Þ ¼ b1 ðx; x0 Þw0 ðtÞ þ b2 ðx; x0 Þv0 ðtÞ
þ b3 ðx; x0 Þw20 ðtÞ þ ::::

The asymptotic series in Eq. (84) are substituted into Eq. (83) and Fig. 14 Coupled beams on a nonlinear elastic foundation.
coefficients of wm m
0 ðtÞv0 ðtÞ; m; n ¼ 0; 1; 2; :::; m þ n 1 are equa- Adopted from Ref. [74].
ted. Functions ai(x), bi(x) satisfy the system of linear ordinary dif-
ferential equations. Solving this system, the continuous nonlinear
mode is obtained: @ 2 W E  Lð0Þ ½W  e1 Lð1Þ ½W  e2 Lð2Þ ½W
4 ð1
@w20 @W 2
  dx
  3kw20 þ 37n4 p4 w20  3v20 0 @w0
a21 ðxÞ  1 (89)
U ¼ w0 a1 ðxÞ 1  c
320n4 p4 ð9n4 p4  kÞ
þ  @W n ð0Þ o

þ < ½W þ e1 <ð1Þ ½W þ e2 <ð2Þ ½W 
  @w0 x¼x0
  kw20 þ 39n4 p4 w20  v20
V ¼ v0 a1 ðsÞ 1  3c a21 ðsÞ  1 þ  ¼ <ð0Þ ½W þ e1 <ð1Þ ½W; w0  þ e2 <ð2Þ ½W
320n4 p4 ð9n4 p4  kÞ
The following condition is satisfied for analytical continuation of
where a1 ðsÞ ¼ sinðnpxÞ=sinðnpx0 Þ. Motions on this CNM are the solution up to maximal energetic surface:
described by the following one-degree-of-freedom oscillator:
@W n ð0Þ o
< ½W þ e1 <ð1Þ ½W þ e2 <ð2Þ ½W <ð0Þ ½W
  csin2 ðpnx0 Þ   @w0 x¼x0
€0 þ n4 p4 þk w0 
w 9k 111n4 p4 þ4ðk þn4 p4 Þ w30
16ð9n4 p4 kÞ  e1 <ð1Þ ½W  e2 <ð2Þ ½W ¼0
  w0 ¼w0
þ 9þ12sin2 ðpnx0 Þ w0 w_ 20 ¼ 0
Asymptotic series in terms of e1 powers is used to obtain CNM
Vibrations of a cantilever beam with geometrical nonlinearity (Eq. (88)):
are studied in Ref. [72]. Motions of the beam are described by a
nonlinear integro-partial-differential equation. The Shaw–Pierre X
N
CNMs are applied to analyze vibrations. This paper is the first W½x; w0 ðtÞ ¼ ek1 Wk ðx; w0 ðtÞÞ
work to employ the Shaw–Pierre CNMs in the study of “intrinsic” k¼1
nonlinearities, which arise purely from large deformation
kinematics. It is shown how the method can be adapted to handle Approach for determination of Wk is considered in Ref. [73].
nonlinear inertial operators in the equations of motions. It is dem- Results of CNM analysis are presented on the backbone curves,
onstrated that nonlinearities in boundary conditions can have a which are hard.
significant influence on normal mode shapes. The King–Vakakis CNMs are used to analyze vibrations of
The King–Vakakis CNMs are used to analyze vibrations of thin coupled beams on a nonlinear elastic foundation (Fig. 14) in
beams on nonlinear foundation in Ref. [73]. Nonlinear dynamics Ref. [74]. It is assumed that coupling between two beams is weak
of this beam is described by the following partial differential and the elastic base nonlinearity is small. System vibrations are
equation with respect to dimensionless variables and parameters: described by the following system of partial differential
equations:
wtt þ e2 wxxxx  wxx þ k1 w þ e1 w3 ¼ 0 (85)
w1;tt ¼ w1;xxxx  kw1  ecw31  eKðw1  w2 Þ
Equation (85) and its boundary conditions take the following op- w2;tt ¼ w2;xxxx  kw2  ecw32  eKðw2  w1 Þ
erator form:
Localized CNMs are analyzed. It was shown that as the ratio of
wtt ¼ <ð0Þ ½w þ e1 <ð1Þ ½w þ e2 <ð2Þ ½w; B½w ¼ 0 (86) coupling over nonlinear terms tends to zero, strong nonlinear
mode localization occurs in the system, where free oscillations
where <ðiÞ are differential operators; B is the operator of the were mainly confined to only one of two beams. Moreover, this
boundary conditions. The energy conservation law takes the strongly localized mode was found to be orbitally stable.
following form:
ð1 5 Asymptotic Methods for NNMs Analysis
E ¼ 0:5 w2t dx þ Lð0Þ ½w þ e1 Lð1Þ ½w þ e2 Lð2Þ ½w (87)
0 Asymptotic methods are widely used in engineering sciences to
calculate NNMs. Now applications of asymptotic methods for the
where LðiÞ ½w are integrodifferential operators. Synchronous NNMs analysis are considered.
motions of the flexible beam can be presented as:
5.1 Finite-Degree-of-Freedom Systems. A cyclic structure
wðx; tÞ ¼ W½x; w0 ðtÞ (88) consisting of n identical particles, arranged in a ring and intercon-
nected by nonlinear springs is considered in Ref. [75]. These
where w0 (t) are displacements of certain beam points. Combining cyclic structures in linear approximation possess pair wise double-
Eqs. (86) and (87), the following equation with respect to W is degenerate natural frequencies with orthogonal natural modes. An
derived: asymptotic method is used to study a nonlinear interaction

020801-14 / Vol. 65, MARCH 2013 Transactions of the ASME

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 between pairs of modes with nearly identical natural frequencies. unstable and five stable modes or two unstable and four stable
Subharmonic standing and traveling wave solutions are analyzed. modes or four stable nonlinear modes.
NNMs and their bifurcations in a mass–spring–pendulum Vertical beam vibrations under the action of seismic excitation
system using perturbation methods and numerical procedure are are analyzed in Ref. [83]. Relations for nonlinear curvature and
studied in Ref. [76]. A structure of three beams with tip mass is nonlinear inertia are taken into account in the beam model. The
treated in Ref. [77]. A six-degree-of-freedom model of this system integro-partial-differential equation of the beam vibrations has the
is reduced through NNMs. System vibrations for 1:2 internal reso- following form:
nance are analyzed. Frequency responses of the system show the  
system behavior close to this resonance. wtt þ 2e2 lwt þ wxxxx þ wx ðwx wxx Þx x
Vestroni et al. [78] considered a piecewise linear two-degree- ðx 2 ðs
@
of-freedom system: þ 0:5 wx 2
w2x dx ds þ e2 ½wxx ðx  zn Þ þ wx 
zn @t 0 x
q þ ½K0  eHðgÞK2 q ¼ 0
M€ (90) ðab cosðXtÞ  gÞ  ecwt jwt j

where M, K0, K2 are second order square matrixes; g ¼ q2  q1 ; The multiple scales method is used to solve directly the integro-
HðgÞ is the Heaviside function. The Lindstedt- Poincare asymp- partial-differential equation in order to analyze the nonlinear
totic method is used to construct NNMs in the piecewise-linear vibrations. It is shown that the obtained motions correspond to the
system. Kauderer–Rosenberg NNMs.
Self-sustained two-degree-of-freedom system under the action Beams coupled by nonlinear springs are investigated in Ref.
of external and parametric forces [84]. Beam vibrations are expanded using the first two spatial
eigenmodes. As a result, a two-degree-of-freedom nonlinear
m1 q€1 þ f1 ðq_ 1 Þ þ d1 q1 þ c1 q31 þ ðd12  l cos 2xtÞðq1  q2 Þ dynamical system is obtained. The method of averaging is used to
¼ f cosðXtÞ analyze this system. It is shown that when the energy is slowly
pumped into the system, the energy suddenly breaks and one of
m2 q€2 þ f2 ðq_ 2 Þ þ d2 q2 þ c2 q32 þ ðd12  l cos 2xtÞðq1  q2 Þ ¼ 0
the local modes becomes the dominant energy receiver. Moreover,
(91) explicit expressions for the critical time at which onset of localiza-
tion occurs is derived.
is considered in Ref. [79]. The multiple scales method is used to A system of two coupled cantilever beams with nonlinear
obtain periodic motions of the system. grounding stiffness (Fig. 15) is considered in Ref. [85]. The
Karhunen–Loeve decomposition procedure is used to obtain local-
ized NNM. In order to apply this method, time series of displace-
5.2 Dynamics of Beams and Shells. A one-dimensional con-
ments are obtained by the direct numerical integration of the
tinuous system with weak cubic geometrical and inertial nonli-
partial differential equations. Bimodal interaction in buckled
nearities is considered in Ref. [80]. This system is described by
beams, shallow arches and suspended cables is analyzed in
the following governing equation:
Ref. [86]. Nonlinear orthogonality of modes and activation of
associated interactions are considered as dual problems. Properties
€ þ =ðwÞ þ @ðwÞ ¼ 0
w (92) of modes interaction in these elastic systems are analyzed. Num-
ber of coupled NNMs is determined.
where = is the linear spatial operator; @ is the nonlinear spatial A water-filled perfect circular cylindrical shell excited harmoni-
and temporal operator. The system motions are expanded into cally in the neighborhood of the fundamental frequency is
a truncated series by spatial modes of vibrations. Generalized treated in Ref. [87]. Keeping 16 natural modes, a finite-degree-of-
coordinates of this system are coefficients of this series terms. freedom system is obtained. A normal form procedure is applied
The Shaw–Pierre NNMs, the multiple scales method, and to this system. The frequency response of the water-filled perfect
other approaches are used to analyze the obtained finite-degree- shell is analyzed. A 16 degree-of-freedom system is reduced to a
of-freedom system dynamics. two-degree-of-freedom system. Thin shallow shells are consid-
Nonlinear vibrations of beams with quadratic and cubic ered in Ref. [88]. Shell displacements u, v, w are expanded using
nonlinearities are treated in Ref. [81]. The equation of the beam trial functions and Lagrange equations are derived. Asymptotic
vibrations with respect to dimensionless variables and parameters approximations of NNMs are obtained using nonlinear forms of
takes the form: ordinary differential equations. Results of calculations are shown

wtt þ wxxxx þ a1 w þ a2 w2 þ a3 w3 ¼ 0

A multiple scales method is used to solve directly the partial dif-

ferential equation. As a result, NNMs of the beam motions are
obtained.
Fixed-fixed buckled beam vibrations in the neighborhood of its
first post-buckling configuration are investigated in Ref. [82].
NNMs are computed by applying the method of multiple scales
directly to the governing integro-partial-differential equation. Sys-
tems of modulation equations, which describe motions on the
NNMs, are obtained. It is shown that for a three-to-one internal
resonance between the first and the third modes, the beam may
possess one stable uncoupled mode and either one stable coupled
mode and three stable coupled modes or two stable and one unsta-
ble coupled modes. For the case of three-to-one internal resonan-
ces, the beam possesses either one unstable and three stable
modes, or four stable modes or two stable and two unstable
NNMs. For one-to-one internal resonance between the third and
fourth modes, the beam possesses either six stable modes or one Fig. 15 System of two coupled beams. Adopted from Ref. [85].

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 on the frequency responses. Thin cylindrical water-filled shell is Refs. [14,18,19,118]. Different types of NNMs localization are
treated in Ref. [89]. A proper orthogonal decomposition method is treated for a low-dimensional cyclic system in Ref. [9]. It is
used to extract the spatial behavior of the system. Temporal obtained that the N-degree-of-freedom cyclic system possesses N
responses are obtained using the Galerkin procedure. NNMs are (strongly) localized NNMs, which are stable. From an engineering
studied using normal forms of ordinary differential equations. point of view, the nonlinear mode localization phenomena can be
Nonlinear forced vibrations of a simply supported, circular implemented in vibration isolation design [20].
cylindrical shell in a flow of incompressible, inviscid fluid are Nonlinear TET in two-degree-of-freedom systems is discussed
investigated using the Donnell’s shallow shell theory [90,91]. in several papers. This phenomenon is first treated by Gendelman
Motions are obtained using normal forms for ordinary differential [119] and Vakakis [120], who analyzed transients in a two-
equations. degrees-of-freedom system consisting of a damped linear
subsystem and weakly coupled essentially nonlinear one-degree-
of-freedom oscillator. Mechanical systems with slightly different
6 Localization and Target Energy Transfer nonlinear attachments are treated in Refs. [121,122]. Principal
Principal aspects of the “targeted energy transfer” (TET) in results on TET are presented in Ref. [5] and in a review [123],
light of NNMs theory are presented here. It means that TET is the where it is shown that under certain conditions, a passive TET
irreversible transfer of the vibration energy from the subsystem of from a linear subsystem to a nonlinear energy sink (NES) occurs.
its generation to a nonlinear attachment. TET permits to damp A transient resonance capture (TRC) in the resonance manifold
undesirable large vibrations amplitudes of structures. takes place during certain time interval. This is considered as the
In general, different mechanisms of energy transfer exist. Non- main mechanism of the targeted energy transfer in coupled oscil-
linear energy transfer is implemented due to nonlinear mode lators with strongly nonlinear attachments [5,121]. Methods of
bifurcations, or through spatial energy localization by formation averaging, multiple scales and of complexification [124] are used
of NNMs [3,5,9,15–19,74,92–95]. In nonlinear Hamiltonian in this investigation. Experimental verification of TET is pre-
systems, the irreversible transfer of energy is generally precluded sented in Refs. [5,125].
due to conservation of the phase volume. In certain cases, Hamil- Now applications of NNMs theory to TET analysis are
tonian dynamics can be trapped in bounded regions of the state discussed. A degenerate bifurcation structure of NNMs in a linear
space [96]. oscillator coupled to a nonlinear attachment is studied by Gendel-
It is known that nonlinear interaction of vibrations modes often man et al. [126]. Vakakis and Rand [127] considered resonant
occurs due to internal resonances [97,98]. A new form of the dynamics of the Hamiltonian system at 1:1 internal resonance.
nonlinear energy transfer between modes in harmonically forced They analyzed NNMs and elliptic orbits in configuration space.
structures is analyzed in Refs. [98–102]. This mechanism of pas- The invariant manifold approach is used to analyze NNMs of a
sive energy transfer is caused by a resonance interaction of the linear subsystem coupled to one-degree-of-freedom nonlinear
slow modulation of a higher mode with a lower one. Kerschen oscillator in Ref. [128]. Different types of TET were obtained. A
et al. [103] discuss an alternative form of nonlinear modal interac- method developed by Pilipchuk et al. [129] is used to study
tion between NNMs with high energy. At low energies, these NNMs of a two-degree-of-freedom system with cubic nonlinearity
modes do not satisfy internal resonance conditions. However, at [5]; NNMs at different resonances are considered. If the stable
higher energies, the same NNMs become internally resonant, as localized mode is excited by external forcing or by the initial con-
their energy-dependent frequencies become closed and strongly ditions, then the system energy is rapidly transferred from the
nonlinear modal interactions. A similar phenomenon is observed directly excited linear oscillator to the nonlinear attachment and a
in thin plate vibrations with geometrical nonlinearities [104]. A continuous exchange of energy between the linear subsystem and
transient mode localization phenomenon in a system containing a nonlinear attachment occurs in the form of beating.
simply supported beam and hardening nonlinear springs is consid- TET is observed for main two-degree-of-freedom linear subsys-
ered by Pilipchuk [84]. An energy exchange between local modes tem near 1:1:1 internal resonance manifold [130]. The nonlinear
is observed. Conditions of localization are obtained. It was shown energy sink passively extracts energy from both modes of the
that if the energy is slowly pumped into the system, one of these main linear subsystem. TET phenomenon in a mechanical system
local modes become the dominant energy receiver. with piecewise-quadratic nonlinear damping characteristics is
Limiting phase trajectories (LPT) of mechanical systems with treated in Ref. [131]. TET from the main linear subsystem to
internal resonance are considered in Refs. [105,106]. LPT have multidegree-of-freedom nonlinear energy sink is analyzed in
the maximal energy exchange between partial oscillators in a Refs. [5,132–136]. However, system dynamics in TET is mainly
form of beating. determined by the corresponding Hamiltonian system.
Localization is one of the most interesting features of NNMs. TET in continuous mechanical systems is studied in Refs.
In this case, certain substructures of a dynamical system have [5,136–138]. These systems are composed of simply supported
significant amplitudes of vibrations and the rest of the substruc- beams with attached nonlinear energy sink. These beams are
tures have small amplitudes. Mode localization may occur in forced impulsively. The nonlinear energy sink absorbs passively
linear systems composed of coupled subsystems [107–109]. In major portion of the beam energy. Dynamics of a plate with
nonlinear systems, structural mistuning is not a prerequisite for multidegree-of-freedom nonlinear energy sink is discussed in
mode localization, since dependence of the oscillation frequency Ref. [139].
on the amplitude provides an ‘effective mistuning’ (or disorder) TET in systems containing harmonically forced single-degree-
[3,110–112]. A nonlinear mode localization takes place in coupled of-freedom linear oscillator and a nonlinear energy sink is treated
oscillators either due to a bifurcation of similar NNMs in the sym- in Refs. [140–143]. Steady states, weakly modulated responses,
metric system, or due to the energy dependence of the nonlinear and a special type of strongly modulated response exist in these
mode shape of nonsimilar NNMs [5]. Forced nonlinear localiza- systems. It may be treated as an extension of TET to periodically
tion due to the normal mode bifurcation is studied in a two- forced structures. A possible application of nonlinear energy sinks
degree-of-freedom oscillator with cubic stiffness nonlinearities as vibration absorbers for harmonically forced single- and multi-
[113]. A nonlinear mode localization in the system of coupled degree-of-freedom linear subsystems is discussed. It is shown
beams is analyzed in Refs. [114–116]. Localization in a flexible that under certain conditions a nonlinear energy sink can be an
structure with nonsmooth nonlinearities is studied in Ref. [117]. A effective vibration absorber. Interaction of parametrically excited
review of mode localization in systems governed by nonlinear mechanical systems with a nonlinear energy sink is treated in
partial differential equations is presented in Ref. [94]. Localized Ref. [144].
NNMs of the forced vibrations of systems consisting of a linear In Ref. [5], vibro-impact nonlinear energy sinks are considered
subsystem and essential nonlinear absorber are considered in as shock absorbers. It is obtained that absorption mode can be

020801-16 / Vol. 65, MARCH 2013 Transactions of the ASME

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 achieved even for a small number of impacts. Impact energy sink system is reduced to a 2.5 degree-of-freedom system. Using the
is capable of absorbing significant portions of the energy of pri- method of averaging, two families of NNMs are obtained.
mary systems at a small time interval. Absorption of instabilities Dynamics of a conservative spherical pendulum is studied
in drilling operations through passive TET are treated in Ref. [5]. in Ref. [151]. The system dominant dynamics is slow and it is
realized as a three-dimensional manifold in the phase-space. A
three-dimensional slow invariant manifold contains two-
7 NNM Based Model Reduction dimensional submanifold, which is the NNM. The master slow
dynamics is described by a single nonlinear oscillator.
NNMs allow for a reduction of the dimensions of the finite-
NNMs and band zones in finite granular chains composed
degree-of-freedom nonlinear systems. In particular, motions on
of spherical granular beads in Hertzian contacts are treated in
the modal lines of the Kauderer–Rosenberg NNMs in configura-
Ref. [152]. The system has NNMs that appear as traveling waves.
tion space are described by one degree of freedom nonlinear oscil-
This paper provides a classification of coherent intrinsic dynamics
lators. If the Shaw–Pierre NNMs are considered, equations of
of one-dimensional homogeneous granular chains with no pre-
motions are projected on the corresponding NNM manifold. As a
compression. Traveling waves in nonlinear chains and beams, as a
result of such projection for a system without internal resonances,
generalization of NNMs, are considered in Ref. [153]. A passage
one degree of freedom oscillator is obtained.
to a long wavelength approximation is made. Conditions of a soli-
Specific construction of reduced-order models using NNMs is
tary wave existence are obtained. Waves with regard to elastic
carried out in few papers. Reduced order models of geometrically
impacts have been investigated.
nonlinear vibrations of thin-walled structures are computed for a
Numerical calculations of NNMs in multidegree-of-freedom
general class of nonlinear systems with quadratic and cubic nonli-
structural models are considered in Ref. [154].
nearities by Touze and Amabili [87]. NNMs are used to derive a
reduced-order model for large amplitude, geometrically nonlinear
vibrations of thin shells in Ref. [88]. Three different shell prob-
lems are considered: (i) simply supported doubly curved shallow
shell, (ii) simply supported circular cylindrical panel, and (iii) 9 Conclusions
simply supported, closed cylindrical shell. The proper orthogonal Different applications of NNMs are considered in this review.
decomposition and asymptotic approximation of the NNMs are The Kauderer–Rosenberg and Shaw–Pierre concepts of the NNMs
compared to reduce the complicated dynamics exhibited by large and other asymptotical approaches are used to determine these
amplitude, geometrically nonlinear vibrations of thin shells by regimes and to describe important properties of different mechani-
Amabili and Touze [89]. A water-filled, simply supported circular cal systems. The Kauderer–Rosenberg NNMs are an effective tool
cylindrical shell subjected to harmonic excitation is treated. Both to study free and forced large amplitude vibrations of low dimen-
proper orthogonal decomposition and NNMs significantly reduce sional essential nonlinear systems without dissipation. The
the dimension of the original model. Shaw–Pierre NNMs are used to investigate free and forced nonlin-
Order reduction of nonlinear systems with time periodic coeffi- ear vibrations of mechanical systems with dissipation. Nonlinear
cients is considered by Sinha et al. [145]. Equations of motions dynamics of finite-degree-of-freedom mechanical systems, such
are transformed using the Lyapunov–Floquet theory. Nonlinear as rotors, car suspension, systems with the essentially nonlinear
order reduction methodology is also suggested through a general- absorbers etc., can be successfully analyzed using NNMs. Both
ization of the invariant manifold technique via time periodic Kauderer–Rosenberg and Shaw–Pierre NNMs can be used to
center manifold theory. An approach for the model reduction study dynamics of rods, blades, arches, plates, and shells. Fre-
based on the invariant manifold construction is discussed in quency responses and other dynamical characteristics are obtained
Ref. [146]. Nonlinear dynamics on these manifolds is governed by using the NNMs approach or by a combination of this approach
few ordinary differential equations. Geometry of the manifold with other methods. In particular, a combination of the NNMs
varies in time due to existence of external and parametric excita- theory and the Rauscher method is effective to describe resonance
tions. Governing partial differential equations for these manifolds vibrations in nonlinear systems. Moreover, the NNMs approach is
are nonlinear with time-varying coefficients. Solutions of these effective not only in analysis of smooth systems, but for the non-
equations are obtained using the Taylor and Fourier series. smooth systems dynamics as well. NNMs play a key role in inves-
Gabale and Sinha [147] consider a methodology for reduced tigation of localization and energy transfer. NNM investigation is
order controller design for nonlinear dynamical systems. A proper an important step in analyzing the global behavior of nonlinear
coordinate transformation and state feedback can be found under mechanical systems. NNMs can be considered as fundamental
which reduced order systems are transformed into linear, time- motions, which allow to determine more complicated behavior of
periodic and closed-loop systems. This permits the design of a nonlinear systems.
time-varying feedback controller, which guarantees stability of
the system. References
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Konstantin Avramov is a Leading Researcher of the Department of Mechanical Vibrations at the Podgorny
Institute for Mechanical Engineering Problems, National Academy of Sciences of Ukraine (Kharkov,
Ukraine) and Professor of the Department of Gas and Fluid Mechanics at the National Technical University
“Kharkov Polytechnic Institute.” He is also Professor of Computer Science in Kharkov National University
of Road Transport. Avramov received the Master in Dynamics and Strength of Machines (1991) from Khar-
kov Polytechnic Institute and a Ph.D. (1993) in Dynamics and Strength of Machines from Kharkov
Polytechnic Institute and an Associate Professorship (1995) from the Department of Theoretical Mechanics
of the Kharkov Polytechnic Institute. Avramov received a Doctor of Science in Mechanics of Solids (2004)
from the Podgorny Institute for Mechanical Engineering Problems, National Academy of Sciences of
Ukraine, and Full Professor (2005) from the Department of Gas and Fluid Mechanics in National Technical
University “Kharkov Polytechnic Institute.” His area of research includes nonlinear dynamics, asymptotic
methods, stability and bifurcation theory, plates and shell theory, fluid structure interactions, dynamics of
rotors and blades, and dynamics of rockets and satellites. He has published two books and over 300 papers in
peer reviewed journals and proceedings. Avramov is organizer and Chair of the Mini-Symposiums at the
European Nonlinear Oscillations Conferences (2008, 2011).

Yuri Mikhlin is Full Professor of the Department of Applied Mathematics at the National Technical University
“Kharkov Polytechnic Institute.” He graduated from the Dneptopetrovsk State University summa cum laude in
Mechanics (1970); received a Ph.D. (Physics & Mathematics) from Dnepropetrovsk State University (1974),
and received a Doctor of Science (Physics & Mathematics) from the Moscow Institute for Problems in Mechan-
ics, Russian Academy of Sciences (1988). He was organizer and chairman of the Sci. Committees of Int. Confer-
ences on Nonlinear Dynamics at the National Technical University “Kharkov Polytechnic Institute” (2004,
2007, 2010); he is also Organizer and Chair of the Mini-Symposiums at the European Nonlinear Oscillations
Conferences (2008, 2011). His current research focuses on: nonlinear normal mode theory, nonlinear rotor dy-
namics, nonlinear dynamics of elastic systems, vibro-absorption problems, transient and localization problems,
stability of motions, etc. He has published over 130 papers in peer reviewed journals and proceedings and five
books.

020801-20 / Vol. 65, MARCH 2013 Transactions of the ASME

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