Nonholonomically Constrained Dynamics and Optimization of Rolling Isolation Systems

Rolling Isolation Systems provide a simple and effective means for protecting components from horizontal floor vibrations. In these systems a platform rolls on four steel balls which, in turn, rest within shallow bowls. The trajectories of the balls is uniquely determined by the horizontal and rotational velocity components of the rolling platform, and thus provides nonholonomic constraints. In general, the bowls are not parabolic, so the potential energy function of this system is not quadratic. This thesis presents the application of Gauss's Principle of Least Constraint to the modeling of rolling isolation platforms. The equations of motion are described in terms of a redundant set of constrained coordinates. Coordinate accelerations are uniquely determined at any point in time via Gauss's Principle by solving a linearly constrained quadratic minimization. In the absence of any modeled damping, the equations of motion conserve energy. This mathematical model is then used to find the bowl profile that minimizes response acceleration subject to displacement constraint.

Geodesically reversible Finsler 2-spheres of constant curvature

A Finsler space is said to be geodesically reversible if each oriented geodesic can be reparametrized as a geodesic with the reverse orientation. A reversible Finsler space is geodesically reversible, but the converse need not be true. In this note, building on recent work of LeBrun and Mason, it is shown that a geodesically reversible Finsler metric of constant flag curvature on the 2-sphere is necessarily projectively flat. As a corollary, using a previous result of the author, it is shown that a reversible Finsler metric of constant flag curvature on the 2-sphere is necessarily a Riemannian metric of constant Gauss curvature, thus settling a long- standing problem in Finsler geometry.