Strain-Gradient Theory of Hydroelastic Travelling

Waves
and Young Measures of their singular limits
P. I. Plotnikov, (col. J.F. Toland)
June 20, 2010
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Introduction
This is a study of two-dimensional, steady, periodic waves which
travel with constant speed, without changing shape, on the surface
of an inviscid, incompressible uid, under gravity, when its surface
is in contact with a thin elastic sheet. We extend the theory
developed by J.F. Toland (2007, 2008) for a class of elastic sheets
with nonzero density)
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
There are no frictional forces between the uid and the sheet,
and shear forces in the sheet are neglected.
The uid beneath the sheet is at rest at innite depth and,
relative to a frame moving with the wave, the uids velocity
eld is stationary and irrotational.
The density of the undeformed sheet is a xed positive
constant and that the motion of points in the sheet is
governed by the equations of hyperelasticity.
The cross-section of the sheet in the plane of motion is
supposed to behave like hyperelastic rod with a stored energy
that depends on stretch, stretch-gradient and curvature (but
not on shear).
The material in the surface sheet may drift at a dierent
speed from that of the wave
There are two parameters in the problem, the velocity c of the
wave and the drift velocity d of the surface sheet.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Formulation of Physical Problem
Surface Elasticity. Suppose that a cross section of the surface
sheet behaves like a Cosserat rod conned to a vertical plane. Let
x = R(X, t) R
2
, where x = (x, y)
denote the position at time t of the point with Lagrangian
coordinate (X, 0) in the rest conguration. (X is the Lagrangian
coordinate)
R denes a parametric curve in the plane Let
a = cos i + sinj, b = sini + cos j, a = b k.
denote the tangential and norma vectors to this curve.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Formulation of Physical Problem
Surface Elasticity.
The Cosserat theory leads to the governing equation for the elastic
rod
R
tt
= n
X
+ f, m
X
+ R
X
n = 0k, (0.1)
which coincides with [Antman Ch. 4, eqs. (1.45) & (1.46)] when
the sheet is thin (unshearable).
The constant 0 is the density of the material in the reference
conguration; n and m are the resultant contact force and couple;
f is the body force , and k is a unit vector normal to the plane of
the surface cross-section.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Elastic material
Set
R
X
= a,
X
=
is the stretch. The curvature at R(X, t) is
(X, t) = (X, t)/(X, t)
.
We adopt the constitutive hypothesis:
n = ^a +Hb, m = /k, (0.2)
where
^ and / are functions of , and their derivatives, and H is the
a priori unknown Lagrange multiplier associated with the pointwise
constraint of unshearability.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Hyperelastic material
Assume that the surface sheet is hyperelastic and that the elastic
energy stored by a deformed period of the reference conguration
is given by
_
2
0
c(

(X), (X), (X))dX. (0.3a)

Accordingly in (0.2),
^ = c

, , )
_
c

, ,

)
_

, /= c

, , ). (0.3b)
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Traveling Waves.
We consider 2-periodic waves traveling with speed c on the
surface of a uid which is at rest at innite depth, beneath an
elastic sheet of constant density in its undeformed state. We
assume that the material of the sheet moves periodically in time
relative to a frame translating horizontally with speed d. To be
precise, the position at time t of the point with Lagrangian
coordinates (X, 0) is
R(X, t) : =
_
X ct + u(X ct), v(X ct)
_
+ (ct, 0), (0.4)
where (u, v) is 2-periodic and c, c R.
c is the velocity of propagation of the water wave.
c is the velocity of propagation of the elastic wave
c c = d is the drift velocity
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Traveling wave.
Now we make the change of variables
X z = X ct
In new variables the rod is represented by parametrized curve
o : x = r(z), r(X ct) = R(X, t) (ct, 0)
which is periodic in z
r(z + 2) = r(z) + (2, 0) for z R.
After change of variables the governing equations become
c
2
r

= n

+ f, m

+ r

n = 0k, (0.5)
where

= d/dz
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Traveling wave
With the notation
M = /, N := ^ c
2
, E(,

, ) := c(,

, ) c
2

2
/2,
(0.6)
the governing equations become
N

H g(j a) = 0, (0.7a)
H

+ N + P g(j b) = 0, (0.7b)
M

+ H = 0. (0.7c)
Remark. Here P is the uid pressure.
Remark. From (0.6), the pseudo-elastic energy E may not be
convex in , even when the elastic energy c is convex. Thus the
traveling wave problem is equivalent to a static problem (0.7).
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Specication of the stored energy.
Assume that the strain-gradient dependence of the elastic energy
has the form
c(,

, ) = c
0
(, ) +

2
A()
2

2
and therefore
E(,

, ) = E(, ) +

2
A()
2

2
, 0, (0.8)
where
E(, ) = c
0
(, ) c
2

2
/2
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Final change of variables.
Introduce new unknown functions
= 1/ ( ds/dz), = /
and the modied elastic energy
F(, ) := E ( 1/, /) , (0.9)
We have the important formulae
E =
1

_
F(, ) +

2
_
a()

_
2
_
, M(, ) = F

(, ),
N(, ) =
_
F F

_
(, ) +
_
a
2

+
_
a
da
d

a
2
2
_

2
_
.
(0.10)
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Basic Free-Boundary Problem.
To nd a periodic curve
o : x = r(z), z R, r(z + 2) = r(z) + (2, 0)
and 2- periodic functions (z), (x, y) such that
P =
_

_
F

(, )
_

+ gcos

_
_
F F

_
(, ) +
_
a
2

+
_
a
da
d

a
2
2
_

2
__
,
(0.11)
a()
_
a()

F(, ) = + g. (0.12)
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Basic Free-Boundary Problem.
The expression for P should agree with the formula for the uid
pressure:
P =
c
2
2

c
2
2
[[
2
g on o where (0.13)
= 0, (x + 2, y) = (x, y) in U,
= 0 on o (kinematic boundary condition),
(x, y) (0, 1) as y ,
_

_
(0.14)
where U is the domain below a period of o.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Basic Free-Boundary Problem.
P =
_

_
F

(, )
_

+ gcos

_
_
F F

_
(, ) +
_
a
2

+
_
a
da
d

a
2
2
_

2
__
,
a()
_
a()

F(, ) = + g.
P =
c
2
2

c
2
2
[[
2
g on o where
= 0, (x + 2, y) = (x, y) in U,
= 0 on o (kinematic boundary condition),
(x, y) (0, 1) as y ,
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Lagrangian of the System.
The Lagrangian is
L =
c
2
2
K
g
2
V
1
V
E
gV
2
, (0.15)
where
c
2
2
K is the uids kinetic energy per period,
g
2
V
1
is the uid potential energy per period,
V
E
is the elastic stored energy per period,
gV
2
is the potential energy of the elastic sheet per period.
K and V
1
depend only on the shape of o, while V
2
and V
E
depend
on the deformation of the reference conguration.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Fluids Kinetic Energy.
The kinetic energy in one period of steady uid ow, when the
velocity at innite depth is (c, 0), is
c
2
2
K(o) where K(o) = inf

__
U
[((x, y) y)[
2
dxdy
_
,
(0.16)
where the inmum is taken over which are zero on o and
2-periodic in x. It is attained at solutions of (0.14). It depends
only on o, not on its parametrization.
Fluids Potential Energy. With the uid density is taken to be unity
the gravitational potential energy of the uid in U is
g
2
V
1
(o) where V
1
(o) =
_
2
0
(r(z) j)
2
(a(z) i) dz. (0.17)
This is also depends only on the shape of the surface.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Pseudo-Elastic Energy.
By (0.10), the pseudo-elastic energy of a traveling-wave is
V
E
=
_
2
0
Edz
_
2
0
_
F((z), (z))+

2
_
a((z))

(z)
_
2
_
dz
(z)
.
If is the length of a period of the surface then
V
E
=
_

0
_
F((s), (s))+

2
_
B
_
(s)
_

_
2
_
ds, B() =
_

1/
a(t)
t
dt,
(0.18)
This is not geometrically invariant, since it depends on the
deformation of the reference conguration.
Potential Energy of Surface Sheet. The gravitational potential
energy of the sheet after deformation is
gV
2
where V
2
=
_
2
0
r(z) jdz, not a geometrically invariant.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Complex variables.
Let + i z x + iy be a conformal mapping of the
half-plane + i : < 0 onto the ow domain satisfying the
condition
z( + 2) = z(),
dz
d
1 as .
It takes the line R onto free boundary o
o : z() = x() + iy()
x() and y() are connected by the Hilbert transform
((e
ik
) = i sgnke
ik
, k Z, R.
If w() = y() is the wave elevation, then the free boundary
admits the representation
r
w
() =
_
( (w(), w()
_
with r
w
( + 2) = (2, 0) + r
w
().
(0.19)
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Complex variables.
In the complex variables we have only two unknown functions of
one real variable
() = (z(s())) and w()
The curvature and the tangent angle are dened by
(w) = [r
w

[ =
_
(1 +(w()

)
2
+ w

2
,
= (w), (w) = ( log (w)
(w)() =
(w)

()
(w)()
=
1
(w)
(
_
(w)

(w)
_
. (0.20)
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Complex variables.
The Lagrangian in the complex variables is

(, w) =
f
(w)
e
(, w)
g
(, w), (0.21)
where the uids energy

f
=
1
2
_
2
0
_
c
2
w(w

gw
2
(1 +(w

)
_
d+
g
4
__
2
0
w(w

d + 2
_
2
,
the bulk elastic energy

e
(, w) =
_
2
0
F(, (w)) + gw (w)d,
the strain gradient energy

g
(, w) =
_
2
0
(B()

)
2
(w)
d.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Problem formulation
T =
_
(s) W
1,2
2
: > 1/ is even
_
,
J = w W
2,2
2
:
2
_
0
log (w) d =
2
_
0
w d = 0, w is even
A
0
=
_
(, w) T J :
_
2
0
()(w)()d = 2
_
.
Problem . For > 0, does there exist a maximizer (

, w

) of

over A
0
with w

, 0 and o(w

) a Jordan curve?
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Condition
(H1) There exist > 1, > 0 such that < 1 and the function
F(, ) is dened on the half strip
Q = (
1
, ) (, ). (0.22)
(H2) For xed , F(, ) is even and convex in , takes its
minimum at = 0, and
F(, ) ,

2
F

2
(, ) as .
(H3)
F(, )

F(, )
_
as
1

,
F(, )

F(, )
_
as ,
(H4) inf
>1/
B

() > 0 and B

() C (1 + B

()) , C > 0.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Condition
Basically (H13) say that the stored energy function is convex in
the curvature and unbounded as the stretch tends to 0 or to
> 1, and as the curvature tends to , where < 1. The
numbers , are chosen to ensure that any 2 periodic curve with
curvature bounded by has no self-intersections. Notice that
conditions (H13) are modelled those in J.F. Toland (2007, 2008),
and can be weakened as in P. Baldi, J. Toland (2009). (For a
discussion of the relation between E and F, see P. Baldi J.
Toland.) Hypothesis (H4) concerns the strain-gradient in (0.8).
Note that F, which because of (0.6) and (0.9) involves the
parameter c = c d, satises (H14) if it does with c = 0.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Condition
Hypothesis (H5) below ensures that maximizers are non-trivial in
the sense that the surface is not at and determines the values of
c and d for which there exist non-trivial waves (see Lemma ??).
Even when the surface is at, a solution may be non-trivial in the
dierent sense that points in the sheets cross-section are in
motion as longitudinal travelling waves in a heavy, straight,
nonlinear elastic rod.
(H5) There exists (

, w

) A
0
with

0
(

, w

) > m

:= lim

0
m

, where
m

= sup
_

0
(, 0) :
1
< L

2
,

1
2
_
2
0
d 1

_
.
(H5) holds if [c[ is large enough and c is bounded.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Result.
Under these assumptions, for any > 0, Problem () has a
solution (

, w

) with
(

(),

()) [
1
+C
1
, C][+C
1
, C
1
] =: Q, R.
The functions w

and their derivatives up to order 2 are uniformly

bounded.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Singular limits.
After passing to a subsequence we can assume that
w

w in C
1
2
,
where w is 2 periodic functions with a bounded second derivative.
But

and

do not converge poinwise. They converge only

weakly.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Singular limits.
A sequence of uniformly bounded functions

2
converge
weakly (star weakly in L

2
) to a function L

2
if and only if
2
_
0

dx
2
_
0
h dx
as 0 for every integrable function Notation

.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Example
Consider the functions

= sin(

),

=
2

arctan(/).
() =
_
1 for 2i < < (2i + 1)
1 for (2i + 1) < < (2i + 2)
,
Obviously

0,

0,

,
where () = sign
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Example
For any continuous function F,
F(

)
1

1
_
1
F()d

1
2
,= F()
F(

)
1
2
F(1) +
1
2
F(1) ,= F(),
F(

) F().
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Example
wlimF(

) =

F() d, where d =
d

1
2
on [1, 1], d = 0 otherwise
w limF(

) =

F() d, =
1
2
(1) +
1
2
(1)
w limF(

) =

F() d, = (())
Hence there is a probability measure, associated with a converging
weakly sequence, with the property. The weak limit of every
quantity is a mathematical expectation of this quantity with
respect to this probability measure
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Young Measures.
A Young measure on R is a family

: R of probability
measures on R
k
with, for almost all , supp

U for a convex,
closed, bounded U R
k
and
R

, f ) :=
_
U
f (, ) d

(, ),
is Lebesgue measurable for any f C(U),
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Further

, f ) denotes the mathematical expectation of f with

respect of a probability measure

P. I. Plotnikov, (col. J.F. Toland)

Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Young Measures.
Suppose that U R
2
is bounded and closed. If u
n
: R U is
even, 2-periodic and u
n

u as 0 in L

2
. Then there is a
subsequence, still denoted by u
n
, and an even, 2-periodic
Young measure

: R with the following properties.

supp

U for almost all .

If U V where V is open, g L

_
V [0, 2]
_
and g(, )
is continuous in for almost every [0, L], then
g(u
n
(), ) g weakly in L
r
[0, 2], r < , (0.23)
where
g() :=

, g(, ))
is a bounded measurable function of .

is called the Young measure of the sequence u

n
.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Young Measures.
Let
Q = (, ) : 1/ + C C, [[ < C,
There is a subsequence (

) and 2-periodic Young measure

: R (probability distribution on the plane of variables

(, )) with the following properties.
supp

Q for almost all .

The weak limit of

is the mathematical expectation of

() =

, )
The weak limit of

is the mathematical expectation of

() =

, ).
F(

) is the mathematical expectation of F(, )

F() =

, F(, ))
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Young Measures.
Our question is: What can be said about Young measures
corresponding to weak limits as 0 of solutions to Problem ()
and how are the stretch and curvature of weak limits related
(equivalently, how does one choose a solution of (0.12) when o(w)
is given and = 0 when F is not convex in .) To answer we aim
to describe:
a variational principle for the Young measure associated with
solutions to Problem (), its optimality conditions and
Lagrange multipliers;
the Young measures associated with Problem (), deciding
when they are atomic.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Generalized rod.
(o(w),

) is a generalized (Cosserat) rod if o(w) is a curve

o(w) = (w(), w(), < <
with the curvature () and

is a Young measure (local

probability distribution) with the properties.
supp
s
Q for a.e. (0.24)

: R is related to the parametrized curve o(w) by

, ) = () and
_
2
0

, ) (w)d = 2. (0.25)
Let C
0
denote the set of generalized rods.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Generalized rod.
The hydroelastic energy of a generalized rod in C
0
is
(o,

) :=
_
2
0

, F + gw()) (w)d +
f
(w),
(0.26)
where
f
(w) is dened following (0.21).
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Generalized rod.
A variational problem for generalized rods is
Problem GR
(o(w),

) = sup
C
0
, (0.27)
The main result is that
(o(w),

) associated with a sequence of solutions of (

, w

)
to Problem () is a solution of Problem (GR).
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
The rst optimality condition.
For any solution to Problem (GR), there is an even, bounded
period function and a Lagrange multiplier such that, for any
(, ) supp

,
F(, ) + (gw() + ) () = F

(gw , ) (0.28)
where F

is the conjugate energy function (the Legendre transform

of F,
F

(p, q) := sup
(,)Q
p + q F(, ) .
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
The rst optimality condition.
In other words there is an even, bounded period function and a
Lagrange multiplier such that, for any (, ) supp

,
F(, ) + (gw() + ) () =
inf
(p,q)Q
F(q, p) + (gw() + )p () q
(0.29)

F(, ) = ()

F(, ) = (gw() + )
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
The rst optimality condition.
The support of

consists of a nite number of points, and the

probability distribution

is an atomic measure. This means that

is a convex combination of a nite number of the Dirac

measures. The stresses

F(

) and
F(

F(

F(

converge uniformly to continuous functions and A

P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
The Bernoulli condition.
1

/ + g

, ) cos + gw +
c
2
2
2
=
c
2
2
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Special case.
F(, ) = F
m
() + F
b
()
In this case

is the Dirac measure, the generalized rod is simply

an Cosserat rod and

a.e. pointwise,
=

F(, ),

, ) = ,
A = F(, )

F(, )

F(, ),
but jumps still exist.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits
Jumps.

F(
+
,
+
) =

F(
+
,
+
),

F(
+
,
+
) =

F(

),
F(
+
,
+
)

F(
+
,
+
)
+

F(
+
,
+
)
+
=
F(

F(

F(

,
Stability condition
F(

F(

F(

=
inf
p,q
F(q, p)

F(

)p

F(

)q.
P. I. Plotnikov, (col. J.F. Toland)
Strain-Gradient Theory of Hydroelastic Travelling Waves and Young Measures of their singular limits