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Orientational instability of nematics under oscillatory flow
A. Krekhov, L. Kramer
To cite this version:
A. Krekhov, L. Kramer. Orientational instability of nematics under oscillatory flow. Journal de
Physique II, EDP Sciences, 1994, 4 (4), pp.677-688. �10.1051/jp2:1994155�. �jpa-00247991�
Classification
Physics Abstracts 61.30G 47.20
Orientational instability of nematics under oscillatory flow
A-P-
Krekhov(~)
and L.Kramer(2)
(~) Institute of Physics, University of Bayreuth, D-95440 Bayreuth, Germany
(~) Physics Department, Bashkirian Research Center, Russian Academy of Sciences, 450025 Ufa, Russia
(Received
27 October 1993, revised 5 January1994, accepted 6 January1994)Abstract. Generalizing a recently introduced approximation scheme valid when the director relaxation time is large compared to the inverse frequency of an oscillatory flow, we derive equa- tions for the time-averaged torques on the director for a prescribed plane shear flow. Whereas for a linear flow field
(simple
Couette flow) the average torques vanish, one has for Poiseuille flow(and
more general flowfields)
torques that tend to orient the director essentiallyperpendicular
to the flow plane. For flow-aligning materials the orientation parallel to the flow is also
(weakly)
stable. Including the effect of homeotropic surface alignment we estimate the threshold of the oscillation amplitude for the out-of-plane transition. The results are essentially recovered
land improved)
by direct numerical simulations.1. Introduction.
Liquid crystals
exhibitinteresting
flowphenomena
due to thecoupling
between the director andvelocity
field. The flowproperties
of a nematicliquid crystal
are characterizedby
Leslie viscosity coefficients al,, a6, of which two, a2 and 03, describe the
coupling
between flow and director orientation [1-3]. For asteady velocity
fieldviz) along
the z-axis(plane
shearflow)
the director will tend to
align
in the shearplane ix
yplane)
at anangle
bfl = tan~l(a3 /02)~/~
with the z-axis if a3
la2
> 0, which isusually
the case [4, 5].However,
in some materials one hasa31a2
< 0(especially
near the transition to a smecticphase)
and then instead of flowalignment
one has atumbling
motion [6]. In the usual situation where the director isaligned
at the surfaces of a
liquid crystal layer
suchhydrodynamic
torques can lead to orientational instabilities. A recent review of these effects isgiven
in [7].When the
velocity
field oscillatesperiodically
andsymmetrically
around zero the situation becomes morecomplicated.
In aprevious
paper we havegiven
an account of much of theexisting
work on thissubject,
which we will not repeat here [8]. We have also introduceda method based on a two-time scale
analysis
to extract the slowaveraged dynamics
of the director under aprescribed oscillatory
shear flow field. The director motion was restrictedto the shear
plane.
In this paper wegeneralize
the treatment to includeout-of-plane
director motion. Thegeneral averaging
method for the directorequations
arepresented
in section 2 andwe
apply
it in section 3 to thesimplest small-amplitude plane
Poiseuille flow.Surpflzingly
theproblem
canagain
be solvedanalytically.
For the case ofhomeotropic
directoralignment
the critical flowamplitude
for theout-of-plane
transition is calculated. The numerical simulationspresented
in section 4 confirm theanalysis
and extend them toarbitrary
flowamplitude.
Insection 5 we comment our results with a view on
possible experiments
andgive
an outlook for future work. Some detailedanalytic
formulas arepresented
in theAppendix
A.2. Basic
equations.
We consider a nematic
layer
of thickness d confined between two infiniteparallel plates.
The z-axis of a Cartesian coordinate system is chosen normal to thebounding plates,
theoscillating
flow in the z-direction and the
origin
in the center of thelayer.
With this choice one can write for the director i1 andvelocity
Qn~ = cos b cos
#,
n~ = sin#,
nz = sin b cos
#,
U~ "
U(t, Z),
Uy "U(t,
Z), Uz " 0,ill
where
b, #,
u, u are functions of t and z. Ingeneral,
a full solution of the fourcoupled_
hydrodynamic equations
forb, #,
u and u [1, 2] withtime-periodic boundary
conditions foru(t, z)
at z =+d/2 (Couette flow)
ortime-periodic
pressuregradient 8P/8z (Poiseuille flow), u(t,
z=
+d/2)
m o and appropriateboundary
conditions forb, #
isquite
a formidable task.For
simplicity
we will here treatu(t, z)
as aprescribed 2x/w-periodic
function in t withu(t
+x/w,z)
=
-u(t, z),
so that thetime-average
<u(t,z)
>= 0. In the samespirit
we set u=
0. This should be a
good
approximation for small oscillationamplitudes A/d
< I(A
is the maximumdisplacement
in theoscillatory flow)
because the director distortion is small.Moreover,
forlarger amplitudes
theapproximation
should still be reasonable for lowfrequencies
such that the viscous
penetration depth fi,
where o is atypical viscosity,
islarger
thanthe thickness d. Then the flow field is distorted
by
the fact that the effective shearviscosity
is
z-dependent
as a result of the director distortion. The distortion is(presumably)
not verysignificant,
exceptmaybe
for Couetteflow,
where the undistorted flow field(constant velocity gradient)
does not lead to any effect(see below).
With the dimensionless variables
I
= wt, I
= z
Id,
fi=
u/dw, (2)
the
equations
forb(t, z), #(t, z)
can now be written as [1-3]~,t
~(~)U
z ~~[~ll(bi
~)~,zz
+a2(bi
~)~~z ~ ~l3(~i~)~,zz
+a4(~i ~)~~z
~a5(~i~)~,z~,zji (~)
#,t K'(b)M(#)u,z
=e~[bi(b, #)b,zz
+b2(b, #)9)~
+b3(~, ~)~,zz
+b4(~,
@~~z +b5(~, @~,z~,zj, (~)
where the tiides have been omitted and
K(b)
=
(I
cos~ b sin~9) Ill Ii, M(#)
=
~
sin
#
cos#,
2 1
=
o31a2,
e~=
I/(Tdw),
Td='fid~ /Kii, (5)
the notation h, +
8h/8i, h'( f)
+8h/8 f
has been usedthroughout
anda,(b, ii, b;(b, #)
areal16, ii
= cos~b + k2sin~
b + (k3 k2sin~
bcos~#, a216, #)
= [k2 + (k3k2)
cos~ii
sin b cosb, a316,
WI= k2
ii
sin b cos b tan#,
a41b,
WI =(2k2
k3iii
sin bcosb,
a516,
WI =-2[cos~
b + k2sin~
b +2(k3
k2sin~
bcos~#]
tan#, bi16,
WI = (k2ii
sin b cos b sin#
cos#,
b216,WI = [sin~b + k2 cos~b +
2(k3 k2) sin~
bcos~#]
sin#
cos#,
b316,ii
= sin~b + k2 cos~b + (k3
ii sin~
bcos~#,
b416, 11 =-(k3 ii sin~
b sin#
cos#,
b516,11
= -2 sin b cosb(k2
k3 cos~# sin~
WI,(6)
and
k,
=K,,/Kii.
Since thefrequency
ofoscillatory
flow w isusually
muchlarger
than the inverse director relaxation time I/Td (I /Td
~
10~~ s~~ for d
= 100
pm)
we may assume e~ < I.Neglecting
in a first step the terms on theright-hand
side ofequations (3, 4),
theremaining
first-order
ordinary
differential equations can be solved and the solution bo is obtainedimplicitly
from/°° (
=
glt,z), glt, z)
=
/~
dtuz(t, z), (7)
so that bo "
bol~, glt, z))
is aperiodic
function in t. Note that for theflow-alignment
case,1 > 0,
K(b)
vanishes at b=
+bfl
and(7)
cannot be used for ~= +bfl
(then
bo ++bfl).
Inprinciple,
theb-integral
in(7)
can be solvedanalytically
andbo(~, g)
can beexpressed
in terms ofelementary
functions [9] but for our purpose this is not needed. Then the solutionlo
can be obtained from~° /l~
-
~ dtK~(b°)Uz
= in
ill°1
(81and
#o(x,~,g(t,z))
is also aperiodic
function in t. We choose theorigin
of t such thatg(t
=o)
= 0 so that one hasbo(t
=
0)
= j#o(t
=
o)
= x.Thus,
from(7), (8)
bo oscillates around ~ andlo
around x,but,
ingeneral,
< bo>#
~ and <lo >#
x. We conclude from(7), (8)
thatneglecting
the elasticcoupling
leads to a continuous two-parameterfamily
ofperiodic
oscillations of b and
#
that can beparametrized by
the"phases"
~ and x. Theonly
fixed pointsare #o " o, bo =
+bfl
and#o
=
x/2.
Oneeasily
sees fromequation (8)
that thetrajectories
in the#,
bplane
aregiven by
~°
~~~~~~~/~~
~~~In
figures
la and 16 we haveplotted
thetrajectories
for two cases with I > o and I < o,respectively.
The threetrajectories correspond
to ~ =x/2
and x=
x/18, x/6
andx/4, but,
as seen from
equation (9),
other combinations of ~ and x lead to the same curves.Depending
on the
amplitude
aonly
part of the curves areactually
traced outby
the director. Forlarge
a and I > o the oscillations saturate at the
flow-alignment angles
whereas for I < o the director motion is inprinciple
unbounded(extend Fig.
lbperiodically).
A similar behaviorwas obtained
previously
[9].In order to
investigate
the influence of the elasticcoupling
in equations(3, 4)
we use the method ofmultiple-scale analysis
[10].By introducing
a '~slow" time T=
e~t,
that modulatesJOURNAL DE PHY~)QUE II -T 4 N'4 APRIL 19~4 ~
r/4 y=n/4
_,,...,__
=~~~8
_."" '".._ ~)
n/6 :/
,---,, "_
.~ ," ',
./ ,' ',
:" l' ',
n/12
,' ',
/ ,
l~o
0
6tj
__... ....___
:.." "". b)
:. ...
:." "...
:.' "..
n/6 _.." "...
,
...
:" ,' ,, "..
:.' ,, , ..
, , ...
, ,
, ,
n/12 ,' ',
,,
o
0 n/2 R
6~
Fig. I. Trajectories in #o,Ho plane obtained from equation (9) for 1 > 0
(a)
and 1 < 0(b).
the
periodic
behavior on the "fast" timescale,
so that b=
b(t,z,T), #
=
#(t,z,T)
andat
- at +e~8T,
one can formulate asystematic perturbation expansion
of the formb
= bo +
ebi
+ e~b2 +,
#
=#o
+e#i
+ e~#2 +,
(lo)
where all functions
b,,
#, areperiodic
in t. At order e° one has the solutions(7, 8)
where the"phases"
~ and x are now allowed todepend
on z and slow time T and are undetermined at this order. At first order in e one has~
~~~
~' ~
-K'~bo
)~j~~)~~ at K'(bo M'(~o )u zj'
~~~~where L is the linear operator of the
perturbational equations
and we can choose(bi
" o,
ii
"
o). Finally,
at order e~ we find~
b2 ~bo,T
+albo,zz
+a2b(,z
~a3~0,zz
+a4~(,z
~5b0,z~0,z)
~2
~~0,T
+blbo,zz
+b2b(,z
~b3~0,zz
+b4~(,z
~bsbo,z~0,z
~~~jwhere a, =
a,(bo,40),
b,=
b,(90,40).
Since L has the two nulleigenvectors 8~(90,#o)
and8~(90, 40)
one has twosolvability
conditions for theinhomogeneous
linearequations (12)
which take on the form<
V+[F
>=0,
<W+[F
>=0, (13)
where F is the
right-hand
side ofequation (12)
and we define the scalarproduct
<
V[U
>=) ~~~~ dt(ViUi
+
V2U2). (14)
K t
Here
V+,
W+ are twolinearly independent
nulleigenvectors
of theadjoint
operator L+L+(j+,j+)=0, L+(W/,W/)=0,
L+
-
(K,,ilii~llll°1"
~a~
ri~g~~~,~l~~u l
(IS)
One
easily
findsV~
=
(),°)
,
W~
=
~-g~~((
,)) (16)
,n ,n ,x o,x
Using
the fact that(90, lo) depends
on z and Tonly through
~, x and g, equations(13)
canbe cast into the form of evolution
equations
for thephases
~ and x~J,T = Bi + Ci~J,z +
Dix,z
+Ei~J,zz
+Fix,~~
+ GiJ~)~ +Hix)z
+IiJ~,zx,z (17)
x,T =
82
+ C2~,= +D2x,z
+E~~,z~
+F~x,~~
+ G~~)~ +H~x)z +12~,zx,z (18)
where
B,, C,,..
,
I~ are scalar
products involving
the functions ~, x,90, lo,
g,z and g,zz. Theexpressions
aregiven
in theAppendix. Equations (17, 18)
describe the slow evolution of thephases
~ and x. Bi, 82 are ingeneral
nonzero if g isspat1ally varying,
I.e. if uzz
#
0(see Appendix).
Nonzero Bi and 82 means that there are net bulk torquesacting
on ~ and x. Ifspatia1variations
of ~ and xplay
no role the stationary solutions of(17, 18)
aresimply given
by
the zeros ofBi,
82.3.
Small-amplitude oscillatory
Poiseuille flow.Let us consider more
explicitly
the case of smallg(t, z),
whichessent1ally
amounts to AId
< I, where A is the maximumdisplacement
in theoscillatory
flow. Then one has from equations(7, 8)
for 90 and#o
up to the second order in g90 = ~J +
K(~J)g
+K~(~J)K(~J)g~
+
,
40
= x +K'(~J)M(x)g
+)lK"(~J)K(~J)
+K/~(~J)M'(x)lM(x)g~
+(19)
The
simplest
situation is obtained forplane oscillatory
Poiseuille flow:u =
a(4z~ 1)
cost, g = 8az sin t.(20)
Then Bi, 82 have no
explicit
zdependence
and forspat1ally
uniform ~, x equations(17, 18)
with
(19, 20)
lead to~,T "
a~B1(~, X),
Xi"
a~B2(~, X), (21)
where the functions
fli(~/, x), fl2(~/, x)
are obtained from thegeneral expressions (Appendix) ti (~, x)
=
3211ai (~, x)
+a5(~, x)M(x)iK'(~)K(~)
+a2(~, x)K~(~)
+a3(~, x)M(x)iK"(~/)K(~/)
+K'~(~/)M'(x)1
+a4(~/, x)iK~(~/)M(x)i~i,
£2(~, x)
=3211bi (~, x)
+ b5(~, x)M(x)iK'(~)K(~)
+b2(~, x)K~(~)
+b3(~, x)M(x) ill" (~)K(~)
+K'~ (~)M'(x)1
+b4(~, x) iK'(~)M(x)i~i (22)
The a,, b, are defined in
(6).
For
in-plane
motion, I-e- x= o one has
82(x
=0)
= 0 and
fli lx
"
0)
=
16[(cos~
~ + k3sin~ ~)K~ (~)l'. (23)
In the
flow-alignment
case(I
>o) fli(x
=
o)
has three zeroscorresponding
to two stableequilibria
at ~ = 0 and ~=
x/2,
and an unstableequilibrium
at theflow-alignment angle
~ = 9fl =
tan~~(a31a2)~/~
[8]. Fornon-flow-aligning
nematics(1
<0)
there remains anunstable
equilibrium
at ~ = 0 and a stable one at ~=
x/2.
By linearizing 82
around x= 0
((x(
«ii
one canstudy
thestability
with respect to out-of-plane
motion. For thetypica1relations
between the elastic constantsK22
<Kii
<K33
and(I(
< I one finds that in the case 1 > 0 theequilibrium point (~
= 0, x =0)
is stable with respect toout-of-plane
motion and(~
= 9fl, x =
0), (~
=x/2,X
"
0)
are unstable. For thecase 1 < 0 the
in-plane
motion isalways
unstable.Out-of-plane equilibrium points
ofequations (21)
can beeasily
found for ~=
x/2.
ThenBi(~
"x/2)
= 0 and
fl2(~
"
x/2)
=
~~
sin x cos
x[(k3
k2 + 1 k2lk3)
cos~ x Isin~ x] (24)
(1- 1)2
has zeros at x =
0, x/2
and for 1 > 0 also atxo "
tan~~(~/(k3
k2 + k2lk3)/1). (25)
Finaliy
anotherequilibrium
point(~i,
xi),
with ~i " 9fl, xi *x/4
appears in the case 1 > 0.Complete phase diagrams
which show thetrajectories
of the system(21)
areplotted
schemat-ically
for the cases 1 > 0 and 1 < 0 infigure
2a andfigure 2b, respectively.
For 1 > 0 one hastwo attractors, but since for
typical
nematics 9fl issmall,
one expects the solution(~
= 0,X"
0)
to be very
weakly
stable(small
domain ofattraction) compared
to(~
=x/2,
x=
xo).
For1 < 0
only
the fixedpoint
x=
x/2
is stable. In both cases(~
=x/2,
x =0)
is unstable with respect to out-of-plane
motion.The above
analysis
shows thepossibility
of a(spatially homogeneous)
transition to out-of-plane motion,
but it cannotgive
a threshold because(stabilizing) boundary
conditions on thedirector are not included. We now take into account
homeotropic boundary alignment
in anapproximate
manner within our scheme.Returning
to the evolutionequations (17, 18)
andlinearizing
with respect to x around(~
=x/2,
x=
0)
one obtains with(19, 20)
x,T "
a~bx a~izx,z
+/x,zz, (26)
where
"
~i
~jj2
(~3 ~2 + ~2 ~~3 Ii?
"
11
~>)2
l~~~~ + ~~
~~l'
/
= k3
(27)
The
boundary
conditions for x at z = +1/2
arex(z
= +
1/2)
= 0. The modal solutions of equation
(26)
are of the formx =
exP(aT)U(z) (28)
and
u(z)
satisfies the differential equation u"fl2zu'+
au= 0,
u(z
=
+1/2)
= 0,(29)
n/2 n/2
I x
z z
0 0 O O
0 6jj n/2 0 n/2
aj ~j
Fig. 2. Phase diagrams for the spatially uniform solutions of evolution equations for 1 > 0
(al
and 1 < 0(b).
where
o =
a~il / al /, fl
=
a~il /. (30)
2 With the transformation u
=
exp(flz~ /2)w(z)
this equation can be reduced tow" +
[a
+fl fl~z~]w
= o,w(z
=
+1/2)
= o.
(31)
It is well-known that for this
problem
there is a minimumeigenvalue
o +fl
that is real andpositive.
The solution of(31)
can beexpressed
in terms of a confluenthypergeometric
functionill]
~° ~~~~ ~~~
~~'~ ~' '~~~~'
~~~~From the
boundary
conditions for w one has thefollowing
equation foro(fl)
The
dependence
ofa(fl)
obtained from the numerical solution ofequation (33)
isplotted
infigure
3. Fromequation (30)
follows a =cfl
a where c=
2ili,
=
al /.
Thus fora >
cfl
one has a < o and
perturbations
of xdecay
intime,
while for a <cfl
thegrowth
rate is positive. The critical value fl~ and thecorresponding
thresholdamplitude
a~=
fill
ofthe
oscillatory
flow can be found from the intersection of the universal curvea(fl) (Fig. 3)
and the
straight
line a=
cfl
whoseslope depends
onliquid crystal
material parameters. Forexample,
with the MBBAliquid crystal
parameters Kii " 6.66 xlo~~~, K22
" 4.2 xlo~~~,
K33
" 8.61 x10~~~N,
02" -lloA x
lo~~,
a3 " -1.I x
lo~~Ns/m~ [12,
13]one has a~
= o.4.
Thus for a < a~ the
growth
rate isnegative
andin-plane
motion is stablebecoming
unstable for a > a~. From equation(27)
one sees that I has a small influence on the threshold aslong
as
iii
< 1.1o o
80
o= cJ
60
~
40
20
~~0.0 5.0 lo 0 15.0 20 0
fi
Fig. 3. Dependence of
a(fl)
corresponding to the minimum eigenvalue equation(31).
4. Numerical simulations.
In order to test the
analytical
results direct finite-difference simulations of the basicequations (3, 4)
for the Poiseuillevelocity
field(20)
wereperformed. Homeotropic boundary
conditionsfor the director 9
=
x/2,
# = 0 at z =+1/2
and MBBA parameters were used. We indeed found theinstability
of thein-plane
motion. Theout-of-plane
distortion of the director can be describedby
theangle
#mcorresponding
to themidplane
z = o(there
theangle
is timeindependent
since for Poiseuille flowu,z(z
=
o)
=0).
Infigure
4 we showii
as a function of the flowamplitude
a for differentfrequencies
of theoscillatory
flow. Near threshold one has#m
+~(a a~)~/~
so the bifurcation issupercritical leading
to a continuouschange
of #m with a.The critical
amplitude
a~ decreasesslightly
withincreasing
flowfrequency,
but remainshigher
than the value a~
= oA obtained from the
analytical approximation.
Thediscrepancy
is notalarming given
that in theanalytic approach
we assumed a~ < I. Moreover thehomeotropic boundary
conditions for 9 areonly
satisfied in the average in theanalysis.
Numerical simulations of
equations (3, 4)
withhomeotropic boundary
conditions for pre- scribedoscillatory
Couette flowu =
a(z
+ cost(34)
2
confirms that there is no
out-of-plane instability
up tohigh
flowamplitudes.
5. Discussion.
Our
investigation
shows that forplane oscillatory
Poiseuille flow in ahomeotropically
orientedsample
one has a transition toout-of-plane
motionthrough
asupercritical
bifurcation. Ourtreatment is valid in the
frequency
rangeI/Td
< w <a/pd~
where o is the effective shear06
- f=10 Hz
- f=50 H2
H- f=100 Hz
-f=500 Hz
0.4
cv E
£+
0.2
~'~
55 60 0.65 0.70 0 75a
Fig. 4. Dependencies of
#(z
= 0) on the amplitude of oscillatory Poiseuille flow for different
frequencies.
viscosity, and then the threshold
amplitude
isproportional
to thelayer
thickness d andindepen-
dent of w with corrections of the order
(Tdw)~~/~
due to theboundary layers.
Forflow-aligning
nematics the
homogeneous
orientationparallel
to thevelocity
field islinearly stable,
butlarge
fluctuations in the flow
plane beyond
theflow-alignment angle might
destabilize the state(see Fig. 2a).
For such materials(homogeneous)
orientationperpendicular
to the flowplane
can inprinciple
also becomeunstable,
but thehydrodynamic
torques are small in this situation and the attractor nearby.
Fornon-flow-aligning
nematics the orientationparallel
to thevelocity
field can becomeunstable,
butagain
thehydrodynamic
torques are small. For such materials the orientationperpendicular
to the flowplane
isabsolutely
stable.Clearly
these results differconsiderably
from what is known forsteady
flow [7].We have not
investigated stability
with respect tospatially periodic
fluctuations. From the results forelliptic
shear flow [14] we expect thatout-of-plane
motion canundergo
such aninstability leading
to aperiodic
roll pattern.For
simple oscillatory
Couette flow noinstability
is found within our framework. This ap- pears to remain true whenspatially periodic
fluctuations are considered [14] unless inertialterms are
included,
whichsurprisingly
appear to beresponsible
for aninstability
at low fre-quencies (down
to below looHz) [15-17].
Actually
inclusion of inertial terms into our treatment isstraightforward
aslong
as the oscillationamplitudes
are small. Then the restriction w «a/pd~
is overcome and in thehigh- frequency
range thesmall-amplitude approximation
is in factexpected
to be valid. Then alsooscillatory
Couette flow should lead to average torques andpossibly
to aspatially homogeneous
reorientation. Work in this direction is in progress. Moreover we
hope
to be able togeneralize
our method to include corrections to the
velocity
fieldresulting
from director distortions in a self-consistent manner.Clearly
it would beinteresting
to test ourpredictions experimentauy,
and wesuggest doing
this with
homeotropic
directoralignment.
Whenoscillatory
Poiseuille flow is induced in a thin slab in the usual wayby application
of a pressure difference one must be aware of the fact that as a result ofcompressibility
the pressuredecays along
the flow direction z on alength
b+~
d/pc~/(3wa))
where c is the soundvelocity
and o atypical
shearviscosity
[18]. Since b » d for all reasonablefrequencies, experiments
should nevertheless bepossible.
Thedecay
is avoided when Poiseuille flow is inducedby oscillating
inparallel
bothplates
of anopen-ended
slab.Finally
let uspoint
out that effects related to the one treatedhere,
wheresystematic
forces result fromoscillatory
andspatially varying
excitation, are known in PlasmaPhysics
under the name of"ponderomotive
forces"(see
e.g.[19]).
Acknowledgments.
We wish to thank A. Buka and H. Schamel for
helpful
discussions. Financial support from DeutscheForschungsgemeinschaft (SFB213
andGraduiertenkolleg
"NichtlineareSpektroskopie
und
Dynamik", Bayreuth)
aregratefully acknowledged.
One of us(A.K.)
wishes to thank theUniversity
ofBayreuth
for itshospitality.
Appendix.
The
solvability
conditions(13)
with definition ofthe scalarproduct (14)
andlinerly independent
null
eigenvectors
of theadjoint
operator(16)
take on the form~
)~0,T
>"<)[a190,zz
+ a29~,z ~ ~l3~0,zz +a4~~,z
~ ~l590,z~0,z) >1(~~)
,n ,n
~
)§~0,T
> <~~~
90,T >-<)[(bl
jl'~al)~0,zz
+ (b2l'~a2)~~,z
~
,x , ,x ,x ,n ,n
(b~
jjj a~)io,zz
+ (b~jj~ a~)ii,z
+ (b~jj~ a~)90,zio,zi
>,(36)
, ,n ,n
where a,
=
a~(90, lo),
b, = b~(bo,lo)
are defined in(6)
and < F >=) f/~~~dtf.
From equations(7, 8j
one has bo =bo(~,gl,
40 =40(x,~J,gl,
where J~=
J~(T,zj,
x=
x(T,zj,
g =
g(t, z)
andb0,T
"b0,q~,T, ~0,T
"~0,q~,T
+ §$0,XX,Tibo,z = bo,~~J,z +
bo,gg,z, 40,z
= 40,~~J,z +40,xx,z
+40,gg,z,
bo,zz = bo,~~J,zz + bo,~~~J)z + 2bo,~g~J,zg,z +bo,gg,zz
+ bo,ggg)z,40,zz
= 40,~~J,zz + 40,~~~J)z +40,xx,zz
+40,xxx)z
+2jo,~x~J,zx,z
+2jo,~~J~,~g,~ +
2jo,~~x,zg,z
+40,gg,zz
+40,ggg)z. (37j
Then for the coefficients in evolution
equations (17, 18)
one hasi~l
<)ial(~0,g§,zz
+ b0,gg§~z) ~ ~l2b~,g§~z ~~l3(~0,g§,zz
+ ~0,gg9~z) +,n
a4~~,g9~z ~ a5b0,g~0,g9~z) ~i
1~2 " <
)I(~l )~~ ~ll)(b0,g9,zz
~ b0,gg9~z) ~ (~2l'~a2)b~,g9~z
~
, , ,
(~3
~'~a3)(~0,g9,zz
+ ~0,gg9~z) + (~4
~'~a4)~~,g9~z
~
o,~ o,~
(b5
°'~a5)90,g40,ggizl
>, o,~
Ci = < 12ai bo,~g +
2a2bo,~bo,g
+2a340,~g
+2a440,~40,g
+a5(bo,~40,g
+bo,g40,~)lg,z
>, o,~C2 - <
H12(bi Iii ai)bo,na
+ 2(b2Iii
a2)bo>nbo,g + 2(b3ta3)40,ng
+2(b4
fia4140,~40,g
+ (b5(°'~ asl(bo,~40,g
+bo,g40,~llg,z
>,o,~ o,~
Di = < 12a340,xg +
2a440,x40,g
+a590,g40,xlg,z
>, o,~~2
" <)[~(~3 jl'~ a3)~0,Xg
~ ~(~4jl'~ a4)~0,X~0,g
+ (b5jl'~ a5)~0,g~0,X)9,z
~',x ,n ,n ,n
El = <
)ia190n
+a3'0ni
>,~~ " <
fi~~~~ IIl ~~l~°~
+ ~~~IIl ~~~'°~l
>'~1 1
" <
fa3~0,X
~'o,~
' ~ ~~
~~~
~~ ~~
Gi
= <£la190,w
+ a~91,~ +a340,w
+a441,~
+asbo,~40,4
>,o,~
G2 # <
fii~bi Illl al190nn
+ ~b2Illl a2191n
+ ~b3IIl a31'°nn
+(b4
~°'~
a4)#(
+ (b5~°'~ a5)90
n
lo
n) >,90~
n90~
Hi
o,~
H2 = <
ox on o,~
Ii
o,~
12 #
<
fi12~b3~ Illl
a3)'0nx + 2~b4
-
Illl a4)'°n'°x + ~b5~
Illl 5)90n'0xi~~
/
~/(9)~
~'~~
/
~j/(b)l~
~' ~~~~which
gives
~°'~
~~~~'
~°'~~~~°~'
~~~~Analogously,
an ~° /l~j
=an In l~l~~l ax
£~° /l~j
- °,(41)
[j'° d# (bo)j
~~
x
M(41
~~ ~~K(~)
40,n
=M(40)~'~~(jj)~~~~, 40,x
=(~)j~, 40,g
=M(40)K'(bo). (42) j~~(~i~~~/~~~~~
~~~~~~~~~~~
~°'~~'~°'~~' ~°'"'~°'~~' ~°'~~'
~°~~x,40,gg, 40,no, 40,xg
aresimply
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