dynamics of a continuous model for flocking ed ott in collaboration with tom antonsen parvez guzdar...
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Dynamics of a Continuous Model for Flocking
Ed Ottin collaboration with
Tom Antonsen
Parvez Guzdar
Nicholas Mecholsky
Dynamical Behavior in Observed Bird Flocks and Fish Schools
1. Flock equilibria
2. Relaxation to equilibrium
3. Stability of the flock
4. Response to an external stimulus, e.g. flight around a small obstacle: poster of Nick Mecholsky
Our Objectives- Introduce a model and use it to investigate:
Characteristics of Common Microscopic Models of Flocks
1. Nearby repulsion (to avoid collisions)
2. Large scale attraction (to form a flock)
3. Local relaxation of velocity orientations to a common direction
4. Nearly constant speed, v0
Continuum Model• Many models evolve the individual positions and
velocities of a large number of discrete boids.• Another approach (the one used here) considers
the limit in which the number of boids is large and a continuum description is applicable.
• Let
The number density of boids
The macroscopic (locally averaged) boid velocity field
),(v
),(
tx
tx
Conservation of Boids:
Velocity Equation:
Upt
)(1
vvv
4
0v t
1 2
3
Governing Equations:
v)v
v1(
1]v[
20
2
W
(1). Short range repulsion:
This is a pressure type interaction that models the short range repulsive force between boids. The denominator prevents from exceeding * so that the boids do not get too close together.
p 1
*
*
1)( *
Tp
Here -1 represents a ‘screening length’ past which the
interaction between boids at and becomes ineffective.
In this case, satisfies:
and U satisfies:
)'(22 xxuu
)(022 xuUU
These equations for u and U apply in 1D, 2D, and 3D.
'x x
(2). Long-range attraction: U
')',(),'(0 xdxxutxuU
|'|4
|)'|exp()',(
xx
xxxxu
00 u
)',( xxu
Our choice for satisfies:)',( xxw
)'(22 xxww v
(3). Velocity orientation relaxation term:
')],(v),'(v[),'()'(]v[ 0 xdtxtxtxxxwwW
(4). Speed regulation term:
This term brings all boids to a common speed v0. If |v| > v0 (|v| < v0 ), then this term decreases (increases) |v|. If , the speed |v| is clamped to v0.
v)v
v1(
12
0
2
0
We consider a one dimensional flock in which the flock density, in the frame moving with the flock, only depends on x. Additionally, v is independent of x and is constant in time (v0):
Equilibrium
00vv x
Equilibrium Equations:
0)()(1
xUdx
dxp
dx
d
)()()(
02
2
2
xuxUdx
xUd
0)(2
12
dx
d
The equilibrium equations combine to give an energy like form
where depends on a dimensionless parameter defined below) and both and x are made dimensionless by their respective physical parameters * and
0*u
T
Equilibrium Solutions
045.0,2.0 and the density at x = 0 is determined to be
5604.00
An Example
Solving the potential equation, we get
The profile is symmetric about 0x
Waves and Stability
Equilibrium:
Perturbations:
000
00
vv
)(
x
x
)exp()(~ zikyikstxf zy
...ˆ
)(1ˆ1
222
2
00
0
0
W
kdx
du
d
dpH
and the notation signifies the operator
2)'(')(
'1
22
2 xxexfdxxf
dx
d
1
22
2
dx
d
dx
dxizkykK zy 000
0
ˆ
v
Basic Equation:
000
10
2 2ˆˆˆˆ xxWsKHKs
where:
Long Wavelength Expansion
Ordering Scheme:
102
0
22
10
2
ˆˆˆ ,ˆˆ
~ ,1~~
KKKUHH
kk zy
wkk
π
2 ,
2
slab ofwidth w
Analysis:
)( equation )(
:in equations Expand
00
OO
Inner product of equation for with annihilates higher order terms to give:
0
042 BksCsA
.dˆ
,d,d
dd
dd
2
dd11
2
dd1
00
00
0
0
xWC
xBxA
xx
xp
ux
Comment:
The eigenfunction from the analysis represents a small rigid x-displacement whose amplitude varies as exp(ikyy + ikzz).
xx
xxd
)(d00
0~)()(
We have also done a similar analysis for a cylindrical flock with a long wavelength perturbation along the cylinder axis.
Cylindrical Flock
Numerical Analysis of Waves and Stability
Use a standard algorithm to determine eigenvalues and eigenvectors. The solutions give all three branches of eigenvalues and their respective eigenfunctions.
VBVA
Linearized equations are a coupled system for , vx, and vy. Discretize these functions of position, and arrange as one large vector.
Preliminary Conclusions From Numerical Stability Code:
All eigenmodes are stable (damped).
For small k (wavelength >> layer width), the damping rate is much larger than the real frequency.
For higher k (wavelength ~ layer width), the real frequency becomes bigger than the damping rate.
Flock Obstacle Avoidance
We consider the middle of a very large flock moving at a constant velocity in the positive x direction. The density of the boids is uniform in all directions.
The obstacle is represented by a repulsive Gaussian hill
Fourier-Bessel transform in
... where
,d)exp()()(),(0
(k)A
kinrkJkAr
n
nnn
.and22 yxr
Solution using Linearized System
Add the repulsive potential, linearize the original equations 0
t
Black = Lower Density,
White = Higher Density
10 0 100.15
0.075
0
0.075
0.15
Re()
Im()
x
10 0 100.01
0.005
0
0.005
0.01
Revx Imvx Vx
x
10 0 100.3
0.15
0
0.15
0.3
Revy Imvy Vy
x
10 0 100.15
0.075
0
0.075
0.15
Re()
Im()
x
10 0 100.01
0.005
0
0.005
0.01
Revx Imvx Vx
x
10 0 100.3
0.15
0
0.15
0.3
Revy Imvy Vy
x
10 0 100.15
0.075
0
0.075
0.15
Re()
Im()
x
10 0 100.01
0.005
0
0.005
0.01
Revx Imvx Vx
x
10 0 100.3
0.15
0
0.15
0.3
Revy Imvy Vy
x
10 0 100.15
0.075
0
0.075
0.15
Re()
Im()
x
10 0 100.01
0.005
0
0.005
0.01
Revx Imvx Vx
x
10 0 100.3
0.15
0
0.15
0.3
Revy Imvy Vy
x
10 0 100.15
0.075
0
0.075
0.15
Re()
Im()
x
10 0 100.015
0.0075
0
0.0075
0.015
Revx Imvx Vx
x
10 0 100.3
0.15
0
0.15
0.3
Revy Imvy Vy
x
r0.967 i 0.122
10 0 100.15
0.075
0
0.075
0.15
Re()
Im()
x
10 0 100.015
0.0075
0
0.0075
0.015
Revx Imvx Vx
x
10 0 100.3
0.15
0
0.15
0.3
Revy Imvy Vy
x
r=-1.072, i=-0.025 r=1.072, i=-0.025 r=-1.025, i=-0.075 r=1.025, i=-0.075 r=-0.978, i=-0.122 r=0.978, r=-0.122
First Three Lowest Eigenmodesk = 0.4, = 0.3, 0/* = 0.8, = 1, = 2, = 100
r0 i 0.123
10 0 100.3
0.15
0
0.15
0.3
Re()
Im()
x
10 0 100.12
0.06
0
0.06
0.12
Revx Imvx
x
10 0 100.2
0.1
0
0.1
0.2
Revy Imvy
x
r=0, r=-0.123 r0 i 0.091
10 0 100.3
0.15
0
0.15
0.3
Re()
Im()
x
10 0 100.12
0.06
0
0.06
0.12
Revx Imvx
x
10 0 100.2
0.1
0
0.1
0.2
Revy Imvy
x
r=0, r=-0.091r0 i 0.158
10 0 100.3
0.1
0.1
0.3
0.5
Re()
Im()
x
10 0 100.05
0.025
0
0.025
0.05
Revx Imvx
x
10 0 100.1
0.05
0
0.05
0.1
Revy Imvy
x
r=0, r=-0.158
ZERO REAL FREQUENCY EIGENMODES
k=0.01, =0.3, =0.8, =1, =2, =100
0 y 0 x
0 0x 0 x x2
0 0 0
0y 0 x
0 0
2
2
2 20 2 2
dk V i ( V )
dx
dP dPd dV i i i [ ] i [ V ] i V
dx d dx dx
dPd dV k k [ ] [ V ]
dx d dx
1[ ] dx (x )exp( k 1 x x )
k 1
[ V] dx exp( k xk
��������������0 02
1/ 22y0 * 0
0 1/ 2 2 1/ 2* 0 * 0 * 0
V(x)x ) (x ) V(x ) dx exp( x x ) (x )
k(0)2T 4 (0)= k= =
u u ( u )
NORMALIZED EQUATIONS
Dimensionless parameters
0 .03 0 .02 0 .01 0 0 .01 0 .02 0 .032
1 .5
1
0 .5
0
0 .5
1
Im z( )
Re z( )
4 2 0 2 410 1
10 0 .5
10 0
99 .5
99
98 .5
98
Im z( )
Re z( )
k=0.01, =0.3, =0.8, =1, =2, =100