1f3afde500
A .DS_Store A Presentations/.DS_Store A Presentations/20251215-Emerson-Pres/.DS_Store A Presentations/20251215-Emerson-Pres/ERLM_SABO_DRAFT_PRES.pdf A Presentations/20251215-Emerson-Pres/ERLM_SABO_FINAL_PRES.pdf A Presentations/20251215-Emerson-Pres/actual-presentation-outline.md A Presentations/20251215-Emerson-Pres/bouncing_ball_hybrid.py A Presentations/20251215-Emerson-Pres/images/.DS_Store
333 lines
10 KiB
Python
333 lines
10 KiB
Python
"""
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Hybrid Dynamical System: Bouncing Ball in 1-D
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This model demonstrates a hybrid system with:
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- Flow State 1: Free fall (when ball center of mass is above radius r)
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- Flow State 2: Spring-mass-damper (when ball is in contact with ground)
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- Discrete transitions between these states
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"""
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import numpy as np
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import matplotlib.pyplot as plt
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from scipy.integrate import solve_ivp
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class HybridBouncingBall:
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def __init__(self, m=0.1, r=0.1, g=9.81, k=5000.0, c=10.0):
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"""
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Parameters:
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-----------
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m : float
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Mass of the ball (kg)
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r : float
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Radius of the ball (m)
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g : float
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Gravitational acceleration (m/s^2)
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k : float
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Spring constant when in contact with ground (N/m)
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c : float
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Damping coefficient when in contact with ground (N·s/m)
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"""
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self.m = m
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self.r = r
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self.g = g
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self.k = k
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self.c = c
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# For tracking state transitions
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self.state_history = []
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self.transition_times = []
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def free_fall_dynamics(self, t, y):
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"""
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Flow dynamics for free fall state.
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State: y = [position, velocity]
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"""
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pos, vel = y
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dpos = vel
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dvel = -self.g
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return [dpos, dvel]
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def spring_damper_dynamics(self, t, y):
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"""
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Flow dynamics for spring-mass-damper state.
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State: y = [position, velocity]
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When ball is compressed against ground:
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F = -k*(r - pos) - c*vel - m*g
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"""
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pos, vel = y
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dpos = vel
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# Spring force kicks in when position < r
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# Compression is (r - pos)
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compression = self.r - pos
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spring_force = self.k * compression
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damping_force = self.c * vel
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dvel = (spring_force - damping_force - self.m * self.g) / self.m
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return [dpos, dvel]
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def event_contact_ground(self, t, y):
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"""Event: Ball contacts ground (transition to spring-damper)"""
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pos, vel = y
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return pos - self.r
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def event_leave_ground(self, t, y):
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"""Event: Ball leaves ground (transition to free fall)"""
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pos, vel = y
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# Leave ground when position > r AND velocity > 0
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if pos > self.r and vel > 0:
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return 0
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return 1
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# Make events terminal to stop integration
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event_contact_ground.terminal = True
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event_leave_ground.terminal = True
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def simulate(self, y0, t_span, max_transitions=20):
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"""
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Simulate the hybrid system.
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Parameters:
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-----------
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y0 : list
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Initial state [position, velocity]
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t_span : tuple
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Time span (t_start, t_end)
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max_transitions : int
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Maximum number of state transitions to simulate
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Returns:
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--------
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t_all : array
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Time points
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y_all : array
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State trajectory
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states : list
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State labels ('free_fall' or 'spring_damper')
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"""
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t_all = []
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y_all = []
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states = []
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current_state = "free_fall" if y0[0] > self.r else "spring_damper"
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current_y = y0
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current_t = t_span[0]
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t_end = t_span[1]
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transitions = 0
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while current_t < t_end and transitions < max_transitions:
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if current_state == "free_fall":
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# Integrate free fall until contact with ground
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sol = solve_ivp(
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self.free_fall_dynamics,
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[current_t, t_end],
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current_y,
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events=self.event_contact_ground,
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dense_output=True,
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max_step=0.01,
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)
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# Store results
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t_all.append(sol.t)
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y_all.append(sol.y.T)
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states.extend(["free_fall"] * len(sol.t))
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# Check if event occurred
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if sol.t_events[0].size > 0:
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# Transition to spring-damper
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current_state = "spring_damper"
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current_t = sol.t[-1]
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current_y = sol.y[:, -1]
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self.transition_times.append(current_t)
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transitions += 1
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else:
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break
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else: # spring_damper
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# Integrate spring-damper until leaving ground
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sol = solve_ivp(
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self.spring_damper_dynamics,
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[current_t, t_end],
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current_y,
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events=self.event_leave_ground,
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dense_output=True,
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max_step=0.01,
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)
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# Store results
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t_all.append(sol.t)
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y_all.append(sol.y.T)
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states.extend(["spring_damper"] * len(sol.t))
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# Check if event occurred
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if sol.t_events[0].size > 0:
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# Transition to free fall
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current_state = "free_fall"
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current_t = sol.t[-1]
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current_y = sol.y[:, -1]
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self.transition_times.append(current_t)
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transitions += 1
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else:
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break
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# Concatenate all results
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t_all = np.concatenate(t_all)
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y_all = np.vstack(y_all)
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return t_all, y_all, states
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def plot_simulation(t, y, states, ball, show_phase=True):
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"""
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Plot the simulation results.
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Parameters:
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-----------
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t : array
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Time points
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y : array
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State trajectory
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states : list
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State labels
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ball : HybridBouncingBall
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Ball object
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show_phase : bool
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Whether to show phase portrait
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"""
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# Convert states to numeric for coloring
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state_numeric = np.array([1 if s == "free_fall" else 2 for s in states])
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if show_phase:
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fig, axes = plt.subplots(2, 1, figsize=(8, 10))
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else:
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fig, axes = plt.subplots(2, 1, figsize=(12, 8))
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axes = axes.reshape(-1, 1)
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# Plot 1: Position vs Time
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ax1 = axes[0] if show_phase else axes[0]
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scatter = ax1.scatter(t, y[:, 0], c=state_numeric, s=1, cmap="coolwarm", alpha=0.6)
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ax1.axhline(
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y=ball.r,
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color="k",
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linestyle="--",
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label=f"Ground contact (h={ball.r}m)",
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linewidth=1,
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)
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ax1.axhline(
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y=0, color="gray", linestyle="-", label="Ground level", linewidth=1, alpha=0.5
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)
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# Mark transitions
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for t_trans in ball.transition_times:
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ax1.axvline(x=t_trans, color="green", linestyle=":", alpha=0.3, linewidth=1)
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ax1.set_xlabel("Time (s)", fontsize=11)
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ax1.set_ylabel("Position (m)", fontsize=11)
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ax1.set_title("Ball Position vs Time", fontsize=12, fontweight="bold")
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ax1.grid(True, alpha=0.3)
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ax1.legend(fontsize=9)
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if show_phase:
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# Plot 2: Vector Field / Phase Portrait
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ax2 = axes[1]
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# Create vector field grid
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pos_range = np.linspace(0, max(y[:, 0]) * 1.1, 15)
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vel_range = np.linspace(min(y[:, 1]) * 1.1, max(y[:, 1]) * 1.1, 15)
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Pos, Vel = np.meshgrid(pos_range, vel_range)
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# Calculate vector field
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dPos = np.zeros_like(Pos)
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dVel = np.zeros_like(Vel)
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for i in range(Pos.shape[0]):
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for j in range(Pos.shape[1]):
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pos_val = Pos[i, j]
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vel_val = Vel[i, j]
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# Determine which dynamics to use
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if pos_val > ball.r:
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# Free fall dynamics
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dPos[i, j] = vel_val
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dVel[i, j] = -ball.g
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else:
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# Spring-damper dynamics
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dPos[i, j] = vel_val
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compression = ball.r - pos_val
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spring_force = ball.k * compression
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damping_force = ball.c * vel_val
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dVel[i, j] = (spring_force - damping_force - ball.m * ball.g) / ball.m
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# Plot vector field with much smaller scale
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ax2.quiver(Pos, Vel, dPos, dVel, alpha=0.3, color='gray', scale=300, width=0.003)
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# Plot trajectory
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scatter2 = ax2.scatter(
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y[:, 0], y[:, 1], c=state_numeric, s=2, cmap="coolwarm", alpha=0.7
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)
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ax2.axvline(
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x=ball.r, color="k", linestyle="--", label=f"Contact threshold", linewidth=1.5
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)
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ax2.axhline(y=0, color="gray", linestyle="-", linewidth=1, alpha=0.5)
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ax2.set_xlabel("Position (m)", fontsize=11)
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ax2.set_ylabel("Velocity (m/s)", fontsize=11)
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ax2.set_title("Vector Field & Phase Portrait", fontsize=12, fontweight="bold")
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ax2.grid(True, alpha=0.3)
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ax2.legend(fontsize=9)
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plt.tight_layout()
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return fig
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if __name__ == "__main__":
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# Create ball with specific parameters
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ball = HybridBouncingBall(
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m=0.10, # 1 kg mass
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r=0.1, # 10 cm radius
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g=9.81, # Earth gravity
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k=500.0, # Spring constant
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c=0.89, # Damping coefficient
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)
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# Initial conditions: drop from 2 meters with zero velocity
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y0 = [1.0, 0.0] # [position (m), velocity (m/s)]
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# Simulate for 5 seconds
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t_span = (0, 5.0)
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print("Simulating hybrid bouncing ball system...")
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print(f"Initial conditions: h0 = {y0[0]} m, v0 = {y0[1]} m/s")
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print(
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f"Ball parameters: m={ball.m} kg, r={ball.r} m, k={ball.k} N/m, c={ball.c} N·s/m"
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)
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print()
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t, y, states = ball.simulate(y0, t_span, max_transitions=30)
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print(f"Simulation complete!")
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print(f"Total time simulated: {t[-1]:.3f} s")
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print(f"Number of state transitions: {len(ball.transition_times)}")
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print(f"Transition times: {[f'{tt:.3f}' for tt in ball.transition_times[:10]]}")
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print()
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# Count time in each state
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free_fall_count = states.count("free_fall")
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spring_damper_count = states.count("spring_damper")
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total_points = len(states)
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print(f"Time distribution:")
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print(f" Free fall: {free_fall_count/total_points*100:.1f}%")
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print(f" Spring-damper: {spring_damper_count/total_points*100:.1f}%")
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# Plot results
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fig = plot_simulation(t, y, states, ball, show_phase=True)
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plt.savefig(
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"/home/danesabo/Documents/Dane's Vault/Presentations/ERLM/bouncing_ball_hybrid.png",
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dpi=300,
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bbox_inches="tight",
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)
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print(f"\nPlot saved to: bouncing_ball_hybrid.png")
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plt.show()
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