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Walter Lacarbonara
Balakumar Balachandran
Jun Ma · J. A. Tenreiro Machado
Gabor Stepan Editors

Nonlinear Dynamics
of Structures,
Systems and
Devices
Proceedings of the First International
Nonlinear Dynamics Conference
(NODYCON 2019), Volume I
Nonlinear Dynamics of Structures, Systems
and Devices
Walter Lacarbonara • Balakumar Balachandran
Jun Ma • J. A. Tenreiro Machado • Gabor Stepan
Editors

Nonlinear Dynamics
of Structures, Systems
and Devices
Proceedings of the First International
Nonlinear Dynamics Conference
(NODYCON 2019), Volume I
Editors
Walter Lacarbonara Balakumar Balachandran
Department of Structural and Geotechnical Department of Mechanical Engineering
Engineering University of Maryland
Sapienza University of Rome College Park, MD, USA
Rome, Italy
J. A. Tenreiro Machado
Jun Ma Department of Electrical Engineering
Department of Physics Polytechnic of Porto - School
Lanzhou University of Technology of Engineering (ISEP)
Lanzhou, Gansu, China Porto, Portugal
Gabor Stepan
Department of Applied Mechanics
Budapest University of Technology
and Economics
Budapest, Hungary

ISBN 978-3-030-34712-3 ISBN 978-3-030-34713-0 (eBook)

https://doi.org/10.1007/978-3-030-34713-0

© Springer Nature Switzerland AG 2020

This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of
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broadcasting, reproduction on microfilms or in any other physical way, and transmission or information
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The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication
does not imply, even in the absence of a specific statement, that such names are exempt from the relevant
protective laws and regulations and therefore free for general use.
The publisher, the authors, and the editors are safe to assume that the advice and information in this book
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the editors give a warranty, expressed or implied, with respect to the material contained herein or for any
errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional
claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AG.
The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland
Preface

This volume is part of three volumes collecting the Proceedings of the First
International Nonlinear Dynamics Conference (NODYCON 2019) held in Rome,
February 17–20, 2019. NODYCON was launched to foster the tradition of the
conference series originally established by Prof. Ali H. Nayfeh in 1986 at Virginia
Polytechnic Institute and State University (Virginia Tech), Blacksburg, VA, USA, as
the Nonlinear Vibrations, Stability, and Dynamics of Structures Conference. With
the passing in 2017 of Prof. Nayfeh, who was also the founder of the Springer
journal Nonlinear Dynamics in 1990, NODYCON 2019 was organized as a collec-
tive tribute of the community to Prof. Nayfeh for being one of the most influential
leaders of nonlinear dynamics. NODYCON 2019 was also established to look to
and dream about the future. The call for papers attracted contributions dealing with
established nonlinear dynamics research topics as well as with the latest trends and
developments. At the same time, to reflect the rich spectrum of topics covered by the
journal Nonlinear Dynamics, the call included diverse and multidisciplinary topics,
to mention a few, multi-scale dynamics, experimental dynamics, dynamics of struc-
tures/industrial machines/equipment/facilities, dynamics of adaptive, multifunc-
tional, metamaterial structures, dynamics of composite/nanocomposite structures,
reduced-order modeling, nonsmooth dynamics, fractional-order system dynamics,
nonlinear interactions and parametric vibrations, computational techniques, non-
linear system identification, dynamics of NEMS/MEMS/nanomaterials, multibody
dynamics, fluid/structure interaction, influence of nonlinearities on vibration control
systems, human–machine interaction, nonlinear wave propagation in discrete and
continuous media, chaotic map-based cryptography, ecosystem dynamics, social
media dynamics, complexity in engineering, and network dynamics.
For NODYCON 2019, the organizers received 450 two-page abstracts and
based on 467 reviews from the Program Committee, the Steering and Advisory
Committees, and external reviewers, 391 papers and 17 posters were accepted,
published in the Book of Abstracts (NODYS Publications, Rome, ISBN 978-88-
944229-0-0), and presented by nearly 400 participants from 68 countries. The
diverse topics covered by the papers were organized along four major themes to
organize the technical sessions:

v
vi Preface

(a) Concepts and methods in nonlinear dynamics

(b) Nonlinear dynamics of mechanical and structural systems
(c) Nonlinear dynamics and control
(d) Recent trends in nonlinear dynamics
The authors of a selection of approximately 60 papers were invited to publish
in the Special Issue of Nonlinear Dynamics entitled “NODYCON 2019 First Inter-
national Nonlinear Dynamics Conference.” Over 200 full papers were submitted
to the Proceedings of the First International Nonlinear Dynamics Conference
(NODYCON 2019) and only 121 of them were accepted. These papers have been
collected into three volumes, which are listed below together with a sub-topical
organization.

Volume 1: Nonlinear Dynamics of Structures, Systems,

and Devices

(a) Methods for nonlinear dynamics

(b) Bifurcations and nonsmooth systems
(c) Nonlinear phenomena in mechanical systems and structures
(d) Experimental dynamics, system identification and monitoring
(e) Fluid–structure interaction, multibody system dynamics
(f) Turning processes, rotating systems, and systems with time delays

Volume 2: Nonlinear Dynamics and Control

(g) Vibration absorbers and isolators

(h) Control of nonlinear systems
(i) Sensors and actuators
(j) Network synchronization

Volume 3: New Trends in Nonlinear Dynamics

(k) Smart materials, metamaterials, composite and nanocomposite materials, and

structures
(l) MEMS/NEMS and energy harvesters
(m) Nonlinear phenomena in bio- and ecosystem dynamics
(n) Chaos in electronic systems
(o) Fractional-order systems
Preface vii

I wish to acknowledge the work of the Co-Editors of the NODYCON 2019

Proceedings: Prof. Balakumar Balachandran (University of Maryland, College Park,
MD, USA), Prof. Jun Ma (Lanzhou University of Technology, China), Prof. J.
A. Tenreiro Machado (Instituto Superior de Engenharia do Porto, Portugal), Prof.
Gabor Stepan (Budapest University of Technology and Economics, Hungary).
The success of NODYCON 2019 relied primarily on the efforts, talent, energy,
and enthusiasm of researchers in the field of nonlinear dynamics who wrote and
submitted these papers. Special praise is also deserved for the reviewers who
invested significant time in reading, examining, and assessing multiple papers, thus
ensuring a high standard of quality for this conference proceedings.

Rome, Italy Walter Lacarbonara

August 2019
Preface for Volume 1: Nonlinear
Dynamics of Structures, Systems,
and Devices

Volume 1 of the NODYCON Proceedings is composed of 55 papers, which are

spread across the following groupings: (a) methods for nonlinear dynamics (8
papers), (b) bifurcations and nonsmooth systems (8 papers), (c) nonlinear phenom-
ena in mechanical systems and structures (12 papers), (d) experimental dynamics,
system identification, and monitoring (8 papers), (e) fluid–structure interaction and
multibody system dynamics (9 papers), and (f) turning processes, rotating systems,
and systems with time delays (10 papers). It is acknowledged that a paper placed
in one grouping could have easily been placed in another grouping as well. As
one reads through these 55 contributions, one will note the use of a wide range
of experimental, analytical, and numerical techniques for study of the nonlinear
dynamics of a wealth of systems across different length and time scales.
In the work of N. Potosakis, E. Paraskevopoulos, and S. Natsiavas, an augmented
Lagrangian formulation is used to construct models of nonlinear mechanical sys-
tems such as vehicle systems subjected to bilateral scleronomic motion constraints.
A. O. Belyakov and A. P. Seyranian study domains of stability for parametrically
excited systems by using high-order approximations of the monodromy matrix.
A. Liu and D. Wagg examine normal form analysis for a two-degree-of-freedom
system. E. Kremer investigates system vibratory responses to amplitude-modulated
and phase-modulated excitations. A. M. Bersani, A. Borri, A. Milanesi, G. Tomas-
setti, and P. Vellucci summarize some recent results obtained from studies of the
asymptotic properties of important enzyme reactions. Z. Wang, Z. Tang, J. H. Park,
and Y. Wang study system modeling for the Hammerstein nonlinear model with
unknown but bounded noise. For strongly nonlinear systems, H.-E. Du, G.-K. Er,
and V. P. Iu consider construction of frequency-response curves and determination
of unstable response regions. Soliton solutions of the Korteweg-de Vries equation
are investigated by S. Carillo, M. L. Schiavo, and C. Schiebold.
Two types of bifurcations related to limit directions of nonsmooth vector fields
are examined by M. Anatali and G. Stepan. S. Natsiavas and E. Paraskevopoulos
study dynamics of multibody systems experiencing impacts with friction. H. Xu
and J. Ji use state feedback control to create Neimark–Sacker bifurcation in a vibro-
impact system. H. Z. Horvath and D. Takacs consider the stability of suitcases

ix
x Preface for Volume 1: Nonlinear Dynamics of Structures, Systems, and Devices

and trailers that are subjected to non-holonomic constraints. I. D. Atanasovska, K.

R. Hedrih, and D. B. Momcilovic study the vibro-impact dynamics of spur gears
with wear. M. Ramírez, J. Collado, and F. Dohnal provide an efficient means for
computing the stability transition curves of coupled Mathieu equations. M. Yadav,
S. S. Chaurasia, and S. Sinha study the symmetry in a group of Stuart–Landau
oscillators; in particular, with regard to oscillation death states. Dynamics and
bifurcations of solutions of the so-called Sprott A system are studied by M. Messias
and A. C. Reinol.
J. Awrejcewicz, R. Starosta, and G. Sypniewska-Kamińska examine the dynam-
ics of a three-degree-of-freedom pendulum-spring-damper system in the presence
of an external resonance and a two-to-one internal resonance. In the presence of
internal resonances, the influence of initial geometric imperfections on the dynamics
of a slender cylindrical panel nonlinear response is investigated by F. M. A. Silva,
W. A. Vaz, and P. B. Gonçalves. M. Farid and O. V. Gendelman treat sloshing
dynamics in partially filled storage tanks. Free oscillations of arbitrarily sagged
and inclined cables oscillating around a catenary static profile are studied by A.
Mansour, G. Rega, and O. B. Mekki. Nonlinear interactions between flexural and
sway oscillations of a laterally braced column are examined by D. Orlando, J. M. P.
Raimundo, and P. B. Gonçalves. The influence of temperature on cable dynamics
under different excitations is considered by Y. Zhao, H. Lin, L. Chen, and Z.
Guo. Behavior of a harmonically forced nonlinear system with a shape memory
alloy-based spring is investigated by S. Ramnarace and J. Bridge. Static behavior
and free oscillations of shallow circular arches are treated by U. Eroglu and G.
Ruta. G. Liu and W. Zhang investigate the response of a composite cantilever plate
placed in a subsonic air flow and study the frequency response of this system. A
hysteresis damper is examined by D. Li and H. Fang. Nonlinear oscillations of an
axially excited beam embedded in a viscoelastic medium are treated by E. Babilio.
Energy localization in a chain of coupled, nonlinear oscillators is investigated by A.
Kovaleva.
N. Barbieri, M. J. Mannala, R. Barbieri, and G. Barbieri use experimental data
based on torsional response to tune nonlinear models of transmission line cables.
Nonlinear, stochastic dynamics of a Duffing oscillator are studied by L. G. G.
Villani, S. Silva, and A. Cunha, Jr. Hysteretic behavior of wire rope isolators is
considered by N. Vaiana, F. Marmo, S. Sessa, and L. Rosati. Nonlinear behavior
of rubber shear springs is experimentally examined by S. Gong, S. Oberst, and X.
Wang. Experimental studies on the responses of a six-degree-of-freedom parallel
manipulator are reported by K. Ringgaard and O. Balling. N. Cavalagli, M. Ciano,
G. Fagotti, M. Gioffrè, V. Gusella, and C. Pepi discuss experimental investigations
into the dynamic response of a two-storey masonry structure mounted on a shaker
table and subjected to a transient excitation with a strong vertical component. Rate
dependence of a hysteretic device is experimentally investigated and characterized
by M. Antonelli, B. Carboni, W. Lacarbonara, D. Bernardini, and T. Kalmár-Nagy.
K. R. Hedrih, S. V. Brčić, and S. Paunović discuss the use of photoelasticity for
nonlinear dynamic studies for different applications, including dams.
Preface for Volume 1: Nonlinear Dynamics of Structures, Systems, and Devices xi

A combined analytical, experimental, and numerical investigation is used to

explore the dynamics of an acoustically levitated sphere by A. Dolev and I.
Bucher. Vortex-induced vibrations are studied by V. Kurushina, E. Pavlovskaia,
A. Postnikov, G. R. Franzini, and M. Wiercigroch. C. Mannini studies vortex-
induced vibrations and galloping dynamics of a cylinder with a rectangular cross
section. Dynamics of an aeroelastic system is investigated by C. Demartino, G.
Matteoni, and C. T. Georgakis. Computational dynamics of a multibody system
in a vertical fluid flow is the subject of the work of Z. Terze, V. Pandža, and D.
Zlatar. M. Eugeni, F. Mastroddi, and F. Saltari examine damping models used in
flutter analysis of highly flexible aircraft. P. Rosatelli, W. Lacarbonara, A. Arena,
and D. J. Inman examine morphing wing dynamics by using computational means.
Multibody dynamic studies are carried out by P. Masarati, A. Zanoni, V. Muscarello,
R. Paolini, and G. Quaranta to understand how the interactions between the vehicle
dynamics and human biomechanics affect helicopter’s handling qualities. The use of
absolute nodal coordinate formulation for studies of thin plate dynamics is examined
by K.-W. Kim, J.-W. Lee, J.-S. Jang, J.-H. Kang, and W.-S. Yoo.
Chatter in turning process is the subject matter of the work presented by B. Beri
and G. Stepan. Aperiodic dynamics of spinning shafts with varying rotation speeds
are studied by F. Georgiades. M. A. AL-Shudeifat and C. Nataraj study backward
whirling of a rotor with fatigue cracks. Inner race defects in rolling element bearings
are treated by T. H. Mohamad, S. Ilbeigi, and C. Nataraj. Turning process dynamics
are studied by A. Gouskov, G. Panovko, and D. D. Tung. A. Wang, W. Jin, and
Q. Lin investigate regenerative effects and friction force effects on chatter during
turning operations. Y. Jin and P. Xu study noise-induced transitions in a triple well
potential system with a time delay. Dimension reduction for rotor dynamic studies is
the topic of the work of K. Lu, H. Zhang, H. Zhou, Y. Jin, Y. Yang, and C. Fu. Drum-
type washing machines are studied by C. Baykal, E. Cigeroglu, and Y. Yazicioglu.
Wear effects in hydrodynamic bearings used in rotating systems are examined by T.
J. Machado and G. C. Stroti.
In conclusion, this volume represents a multifaceted cross section of recent
advances in computational methods for nonlinear dynamics, bifurcations, nonlinear
phenomena in mechanical systems and structures, experimental dynamics, nonlinear
system identification, fluid–structure interaction and multibody system dynamics,
turning processes, rotating systems, and nonsmooth system dynamics including
systems with time delays. We hope that readers will benefit from the rich work
portrayed here on nonlinear dynamics of structures, systems, and devices and that
new ideas and future contributions will be inspired.

Rome, Italy Walter Lacarbonara

College Park, MD, USA Balakumar Balachandran
Lanzhou, China Jun Ma
Porto, Portugal J. A. Tenreiro Machado
Budapest, Hungary Gabor Stepan
August 2019
Contents

Part I Methods for Nonlinear Dynamics

Nonlinear Dynamics of Multibody Systems Using an Augmented
Lagrangian Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Nikolaos Potosakis, Elias Paraskevopoulos, and Sotirios Natsiavas
Stability Boundary Approximation of Periodic Dynamics . . . . . . . . . . . . . . . . . . 13
Anton O. Belyakov and Alexander P. Seyranian
ε 2 -Order Normal Form Analysis for a Two-Degree-of-Freedom
Nonlinear Coupled Oscillator. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Xuanang Liu and David J. Wagg
Vibrational Mechanics of Systems with Amplitude and Phase
Modulation of Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Eugen Kremer
Singular Perturbation Techniques and Asymptotic Expansions
for Some Complex Enzyme Reactions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Alberto Maria Bersani, Alessandro Borri, Alessandro Milanesi,
Giovanna Tomassetti, and Pierluigi Vellucci
A Novel Two-Stage Ellipsoid Filtering Based System Modeling
Algorithm for a Hammerstein Nonlinear Model with an Unknown
Noise Term . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Ziyun Wang, Ze Tang, Ju H. Park, and Yan Wang
A New Method for the Frequency Response Curve and Its Unstable
Region of a Strongly Nonlinear Oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Hai-En Du, Guo-Kang Er, and Vai Pan Iu
Matrix Soliton Solutions of the Modified Korteweg–de Vries Equation . . . 75
Sandra Carillo, Mauro Lo Schiavo, and Cornelia Schiebold

xiii
xiv Contents

Part II Bifurcations and Nonsmooth Systems

Bifurcations of Limit Directions at Codimension-2 Discontinuities
of Vector Fields . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
Mate Antali and Gabor Stepan
Boundary Layer Dynamics of Multibody Systems Involving Impact
and Friction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
Sotirios Natsiavas and Elias Paraskevopoulos
Creation of Neimark-Sacker Bifurcation for
a Three-Degree-of-Freedom Vibro-Impact System with Clearances . . . . . . . 107
Huidong Xu and Jinchen Ji
Analogue Models of Rocking Suitcases and Snaking Trailers . . . . . . . . . . . . . . 117
Zoltan Horvath and Denes Takacs
A Theoretical Model for Vibro-Impact Dynamics of Spur Gears
with Tooth Flanks Wear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127
Ivana D. Atanasovska, Katica R. (Stevanović) Hedrih,
and Dejan B. Momcilovic
Stability of Coupled and Damped Mathieu Equations Utilizing
Symplectic Properties . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
Miguel Ramírez Barrios, Joaquín Collado, and Fadi Dohnal
Asymmetry in the Basin Stability of Oscillation Death States Under
Variation of Environment-Oscillator Links . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
Manish Yadav, Sudhanshu Shekhar Chaurasia, and Sudeshna Sinha
The Occurrence of Zero-Hopf Bifurcation in a Generalized
Sprott A System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
Marcelo Messias and Alisson C. Reinol

Part III Nonlinear Phenomena in Mechanical Systems

and Structures
External and Internal Resonances in a Mass-Spring-Damper
System with 3-dof . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
Jan Awrejcewicz, Roman Starosta, and Grażyna Sypniewska-Kamińska
Internal Resonances in an Imperfect Circular Cylindrical Panel . . . . . . . . . . 179
Frederico M. A. Silva, Wanclaine A. Vaz, and Paulo B. Gonçalves
Weakly Nonlinear Liquid Sloshing: Modelling and Exploration
of Response Regimes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
Maor Farid and Oleg V. Gendelman
Catenary-Based Nonlinear Multimodal Theory of Cable
Free Vibrations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
Achref Mansour, Giuseppe Rega, and Othman Ben Mekki
Contents xv

Flexural and Sway Interaction in the Nonlinear Vibrations

of a Phenomenological Model of a Laterally Braced Column. . . . . . . . . . . . . . . 207
Diego Orlando, Juliana M. P. Raimundo, and Paulo B. Gonçalves
Influences of Temperature on Dynamic Behaviors of Suspended
Cables Under Primary and Sub-Harmonic Excitations Simultaneously . . 217
Yaobing Zhao, Henghui Lin, Lincong Chen, and Zixiong Guo
Analysis of a Shape Memory Alloy Spring System Under Harmonic
Excitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227
Shivan Ramnarace and Jacqueline Bridge
Vibration of Pre-Loaded Shallow Circular Arches . . . . . . . . . . . . . . . . . . . . . . . . . . . 237
Uğurcan Eroğlu and Giuseppe Ruta
Nonlinear Vibration Responses of Laminated Composite Cantilever
Plate in Subsonic Air Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
Gen Liu and Wei Zhang
Adaptation of Energy Dissipation in a Laminated Module
with Tunable Twin Wells . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 257
Dejian Li and Hui Fang
The Duffing–Mathieu Equation Arising from Dynamics
of Post-Buckled Beams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
Enrico Babilio
Resonance-Induced Energy Localization in Weakly Dissipative
Anharmonic Chains. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Agnessa Kovaleva

Part IV Experimental Dynamics, System Identification

and Monitoring
Torsional Analysis of Transmission Line Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
Nilson Barbieri, Marcos José Mannala, Renato Barbieri, and Gabriel de
Sant’Anna Vitor Barbieri
Application of a Stochastic Version of the Restoring Force Surface
Method to Identify a Duffing Oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
Luis G. G. Villani, Samuel da Silva, and Americo Cunha Jr.
Modeling of the Hysteretic Behavior of Wire Rope Isolators Using
a Novel Rate-Independent Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309
Nicolò Vaiana, Francesco Marmo, Salvatore Sessa, and Luciano Rosati
A Non-linear Model of Rubber Shear Springs Validated
by Experiments . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319
Sanpeng Gong, Sebastian Oberst, and Xinwen Wang
xvi Contents

Operational Modal Analysis on a Six-Degree-of-Freedom Parallel

Manipulator: Reproducibility, Excitation and Pose Dependency. . . . . . . . . . . 329
Kasper Ringgaard and Ole Balling
Shaking Table Investigation on the Masonry Structures Behaviour
to Earthquakes with Strong Vertical Component . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337
Nicola Cavalagli, Matteo Ciano, Gianluca Fagotti, Massimiliano Gioffrè,
Vittorio Gusella, and Chiara Pepi
Quantifying Rate-Dependence of a Nonlinear Hysteretic Device . . . . . . . . . . . 347
Marco Antonelli, Biagio Carboni, Walter Lacarbonara, Davide Bernardini,
and Tamás Kalmár-Nagy
Application of Photoelasticity to Some Nonlinear Dynamic
Problems and Stress State Analysis in Dams: A Brief Overview
Inspired by the Results of Prof. Vlatko Brčić . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357
Katica R. (Stevanović) Hedrih, Stanko V. Brčić, and Stepa Paunović

Part V Fluid–Structure Interaction, Multibody System Dynamics

Levitated and Parametrically Excited Sphere Dynamics
in a Single-Axis Ultrasonic Levitator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369
Amit Dolev and Izhak Bucher
Modelling VIV of Transversally Oscillating Rigid Structures Using
Nonlinear Fluid Oscillators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379
Victoria Kurushina, Ekaterina Pavlovskaia, Andrey Postnikov,
Guilherme Rosa Franzini, and Marian Wiercigroch
Asymptotic Analysis of a Dynamical System for Vortex-Induced
Vibration and Galloping. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389
Claudio Mannini
A Quasi-Steady 3-DoFs Sectional Aerodynamic Model:
Preliminary Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399
Cristoforo Demartino, Giulia Matteoni, and Christos T. Georgakis
Lie Group Dynamics of Multibody System in Vortical Fluid Flow . . . . . . . . . 409
Zdravko Terze, Viktor Pandža, and Dario Zlatar
Damping Models in Aircraft Flutter Analyses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419
Marco Eugeni, Franco Mastroddi, and Francesco Saltari
Dynamic Response of a Morphing Wing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429
Patrizio Rosatelli, Walter Lacarbonara, Andrea Arena, and Daniel J. Inman
Helicopter Pilot Biomechanics by Multibody Analysis . . . . . . . . . . . . . . . . . . . . . . 439
Pierangelo Masarati, Andrea Zanoni, Vincenzo Muscarello, Rita Paolini,
and Giuseppe Quaranta
Contents xvii

Derivation of Non-dimensional Equation of Motion for Thin Plate

in Absolute Nodal Coordinate Formulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449
Kun-Woo Kim, Jae-Wook Lee, Jin-Seok Jang, Ji-Heon Kang,
and Wan-Suk Yoo

Part VI Turning Processes, Rotating Systems, and Systems

with Time Delays
Approximated Dynamics of Chatter in Turning Processes . . . . . . . . . . . . . . . . . . 463
Bence Beri and Gabor Stepan
Chaotic Dynamics in Spinning Shafts with Non-constant Rotating
Speed Described by Variant Lyapunov Exponents . . . . . . . . . . . . . . . . . . . . . . . . . . . 471
Fotios Georgiades
Post-Resonance Backward Whirl in a Jeffcott Rotor
with a Breathing Crack Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 485
Mohammad A. Al Shudeifat and C. Nataraj
Proper and Smooth Orthogonal Decompositions for Detection of
Inner Race Defects in Rolling Element Bearings with Variable
Rotational Speeds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Turki H. Mohamad, Shahab Ilbeigi, and C. Nataraj
Effect of the Compliance of the Part on the Double-Turning Process . . . . . . 503
Alexander Gouskov, Grigory Panovko, and Dinh Duc Tung
Effect of the Regenerative and Frictional Force on Chatter
in Turning Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
An Wang, Wuyin Jin, and Qian Lin
Noise-Induced Transitions and Resonances in a Delayed Triple-Well
Potential System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 523
Yanfei Jin and Pengfei Xu
Application of the Second Dimension Reduction Method
in Nonlinear Rotor Dynamic System. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533
Kuan Lu, Haopeng Zhang, Hao Zhou, Yulin Jin, Yongfeng Yang,
and Chao Fu
Vibration Analysis of Washing Machines in the Drum Plane . . . . . . . . . . . . . . . 549
Cem Baykal, Ender Cigeroglu, and Yiğit Yazicioglu
Nonlinear Model for Wear Effects in Hydrodynamic Bearings
Applied to Rotating Systems . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561
Tiago Henrique Machado and Gustavo Chaves Storti

Author Index. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569

Subject Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

Contributors

Mohammad A. Al Shudeifat Department of Aerospace Engineering, Khalifa

University, Abu Dhabi, UAE
Mate Antali Budapest University of Technology and Economics, Budapest, Hun-
gary
Marco Antonelli Department of Structural and Geotechnical Engineering,
Sapienza University of Rome, Rome, Italy
Andrea Arena Department of Structural and Geotechnical Engineering, Sapienza
University of Rome, Rome, Italy
Ivana D. Atanasovska Mathematical Institute of the Serbian Academy of Sci-
ences and Arts, Belgrade, Serbia
Jan Awrejcewicz Department of Automation Biomechanics and Mechatronics,
Lodz University of Technology, Lodz, Poland
Enrico Babilio Department of Structures for Engineering and Architecture (DiSt),
University of Naples “Federico II”, Naples, Italy
Balakumar Balachandran Department of Mechanical Engineering, University of
Maryland, College Park, MD, USA
Ole Balling Mechanical and Materials Engineering, Department of Engineering,
Aarhus University, Aarhus, Denmark
Nilson Barbieri Pontifícia Universidade Católica do Paraná-PUCPR, Curitiba,
Paraná, Brazil
Universidade Tecnológica Federal do Paraná-UTFPR, Curitiba, Paraná, Brazil
Renato Barbieri Universidade do Estado de Santa Catarina-UDESC, Joinville,
Santa Catarina, Brazil
Cem Baykal Middle East Technical University, Ankara, Turkey

xix
xx Contributors

Anton O. Belyakov Moscow School of Economics, Lomonosov Moscow State

University, Moscow, Russia
National Research Nuclear University “MEPhI”, Moscow, Russia
Central Economics and Mathematics Institute, Russian Academy of Sciences,
Moscow, Russia
Bence Beri Department of Applied Mechanics, Budapest University of Technol-
ogy and Economics, Budapest, Hungary
Davide Bernardini Department of Structural and Geotechnical Engineering,
Sapienza University of Rome, Rome, Italy
Alberto Maria Bersani Department of Mechanical and Aerospace Engineering,
Sapienza University, Roma, Italy
Alessandro Borri Institute for System Analysis and Computer Science “Antonio
Ruberti”, Roma, Italy
Stanko V. Brčić Faculty of Civil Engineering, University of Belgrade, Belgrade,
Serbia
Jacqueline Bridge Department of Mechanical and Manufacturing Engineering,
The University of the West Indies, St. Augustine, Trinidad and Tobago
Izhak Bucher Faculty of Mechanical Engineering, Technion—Israel Institute of
Technology, Haifa, Israel
Biagio Carboni Department of Structural and Geotechnical Engineering, Sapienza
University of Rome, Rome, Italy
Sandra Carillo Università di Roma “La Sapienza”, Dip. S.B.A.I., Rome, Italy
I.N.F.N.—Sezione Roma1, Gr. IV—M.M.N.L.P., Rome, Italy
Nicola Cavalagli Department of Civil and Environmental Engineering, University
of Perugia, Perugia, Italy
Sudhanshu Shekhar Chaurasia Indian Institute of Science Education and
Research (IISER), Mohali, Punjab, India
Lincong Chen College of Civil Engineering, Huaqiao University, Xiamen, Fujian,
China
Matteo Ciano Department of Civil and Environmental Engineering, University of
Perugia, Perugia, Italy
Ender Cigeroglu Middle East Technical University, Ankara, Turkey
Joaquín Collado Automatic Control Department, CINVESTAV, México City,
México
Americo Cunha Jr. UERJ—Universidade do Estado do Rio de Janeiro,
NUMERICO—Nucleus of Modeling and Experimentation with Computers,
Rio de Janeiro, Brazil
Contributors xxi

Samuel da Silva UNESP – Universidade Estadual Paulista, Faculdade de Engen-

haria, Departamento de Engenharia Mecânica, São Paulo, Brazil
Cristoforo Demartino Department of Energy, Environment, and Infrastructure
Sciences, Zhejiang University-University of Illinois (ZJUI), Zhejiang University,
Haining, China
Gabriel de Sant’Anna Vitor Barbieri Pontifícia Universidade Católica do
Paraná-PUCPR, Curitiba, Paraná, Brazil
Universidade Tecnológica Federal do Paraná-UTFPR, Curitiba, Paraná, Brazil
Fadi Dohnal Division for Mechatronics Lienz, UMIT – Private University for
Health Sciences, Medical Informatics and Technology, Lienz, Austria
Amit Dolev Faculty of Mechanical Engineering, Technion—Israel Institute of
Technology, Haifa, Israel
Hai-En Du Department of Civil and Environmental Engineering, University of
Macau, Macau SAR, China
Guo-Kang Er Department of Civil and Environmental Engineering, University of
Macau, Macau SAR, China
Uğurcan Eroğlu Istanbul Technical University, Istanbul, Turkey
Marco Eugeni Department of Mechanical and Aerospace Engineering, Sapienza
University of Rome, Rome, Italy
Gianluca Fagotti Ufficio Speciale Ricostruzione Umbria, Foligno, Italy
Hui Fang Institute of Coastal and Ocean Engineering, School of Engineering,
Ocean University of China, Qingdao, China
Maor Farid Faculty of Mechanical Engineering, Technion—Israel Institute of
Technology, Haifa, Israel
Guilherme Rosa Franzini Offshore Mechanics Laboratory, Escola Politécnica,
University of São Paulo, São Paulo, Brazil
Chao Fu Institute of Vibration Engineering, Northwestern Polytechnical Univer-
sity, Xi’an, P. R. China
MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern
Polytechnical University, Xi’an, P. R. China
Oleg V. Gendelman Faculty of Mechanical Engineering, Technion—Israel Insti-
tute of Technology, Haifa, Israel
Christos T. Georgakis Department of Engineering-Structural Monitoring and
Dynamics, Aarhus University, Aarhus, Denmark
Fotios Georgiades School of Engineering, College of Science, University of
Lincoln, Lincoln, UK
xxii Contributors

Massimiliano Gioffrè Department of Civil and Environmental Engineering, Uni-

versity of Perugia, Perugia, Italy
Paulo B. Gonçalves Department of Civil Engineering, Pontifical Catholic Univer-
sity, Rio de Janeiro, Brazil
Sanpeng Gong School of Chemical and Environmental Engineering, China Uni-
versity of Mining and Technology, Beijing, China
Center for Audio, Acoustics and Vibration, University of Technology, Sydney,
NSW, Australia
Alexander Gouskov Mechanical Engineering Research Institute of Russian
Academy of Sciences, Moscow, Russia
Zixiong Guo College of Civil Engineering, Huaqiao University, Xiamen, Fujian,
China
Vittorio Gusella Department of Civil and Environmental Engineering, University
of Perugia, Perugia, Italy
Zoltan Horvath Department of Applied Mechanics, Budapest University of Tech-
nology and Economics, Budapest, Hungary
Shahab Ilbeigi Villanova Center for Analytics of Dynamic Systems, Villanova
University, Villanova, PA, USA
Daniel J. Inman Department of Aerospace Engineering, University of Michigan,
Ann Arbor, MI, USA
Vai Pan Iu Department of Civil and Environmental Engineering, University of
Macau, Macau SAR, China
Jin-Seok Jang Korea Institute of Industrial Technology, Daegu, South Korea
Jinchen Ji University of Technology Sydney, Broadway, NSW, Australia
Wuyin Jin School of Mechanical and Electronical Engineering, Lanzhou Univer-
sity of Technology, Lanzhou, China
Yanfei Jin Department of Mechanics, Beijing Institute of Technology, Beijing,
China
Yulin Jin School of Aeronautics and Astronautics, Sichuan University, Chengdu,
P. R. China
Tamás Kalmár-Nagy Department of Fluid Mechanics, Faculty of Mechanical
Engineering, University of Technologies and Economics, Budapest, Hungary
Ji-Heon Kang Pusan National University, Busan, South Korea
Kun-Woo Kim Korea Institute of Industrial Technology, Daegu, South Korea
Agnessa Kovaleva Space Research Institute, Moscow, Russia
Contributors xxiii

Eugen Kremer Schaeffler Automotive Buehl GmbH & Co. KG, Buehl, Baden,
Germany
Institute for Problems in Mechanical Engineering of Russian Academy of Sciences,
St. Petersburg, Russia
Victoria Kurushina Department of Transport of Hydrocarbon Resources, Institute
of Transport, Industrial University of Tyumen, Tyumen, Russia
Centre for Applied Dynamics Research, School of Engineering, University of
Aberdeen, Kings’ College, Aberdeen, Scotland, United Kingdom
Walter Lacarbonara Department of Structural and Geotechnical Engineering,
Sapienza University of Rome, Rome, Italy
Jae-Wook Lee Korea Institute of Industrial Technology, Daegu, South Korea
Dejian Li Institute of Coastal and Ocean Engineering, School of Engineering,
Ocean University of China, Qingdao, China
Henghui Lin College of Civil Engineering, Huaqiao University, Xiamen, Fujian,
China
Qian Lin Editorial Department of Journal of Lanzhou University of Technology,
Lanzhou University of Technology, Lanzhou, China
Gen Liu Beijing Key Laboratory of Nonlinear Vibrations and Strength of Mechan-
ical, College of Mechanical Engineering, Beijing University of Technology, Beijing,
P. R. China
Xuanang Liu Department of Mechanical Engineering, University of Sheffield,
Sheffield, UK
Kuan Lu Institute of Vibration Engineering, Northwestern Polytechnical Univer-
sity, Xi’an, P. R. China
MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern
Polytechnical University, Xi’an, P. R. China
Jun Ma Department of Physics, Lanzhou University of Technology, Lanzhou,
Gansu, China
Tiago Henrique Machado Department of Integrated Systems, School of Mechan-
ical Engineering, University of Campinas, Campinas, Brazil
J. A. Tenreiro Machado Department of Electrical Engineering, Polytechnic of
Porto - School of Engineering (ISEP), Porto, Portugal
Marcos José Mannala Instituto de Tecnologia para o Desenvolvimento-LACTEC,
Curitiba, Paraná, Brazil
Claudio Mannini CRIACIV-Department of Civil and Environmental Engineering,
University of Florence, Florence, Italy
xxiv Contributors

Achref Mansour Université de Tunis El Manar, Ecole Nationale d’Ingénieurs de

Tunis LGC, Tunis, Tunisia
University Grenoble Alpes, Inria, CNRS, Grenoble INP, LJK, Grenoble, France
Francesco Marmo Department of Structures for Engineering and Architecture,
University of Naples Federico II, Naples, Italy
Pierangelo Masarati Department of Aerospace Science and Technology, Politec-
nico di Milano, Milano, Italy
Franco Mastroddi Department of Mechanical and Aerospace Engineering,
Sapienza University of Rome, Rome, Italy
Giulia Matteoni Arup, London, UK
Othman Ben Mekki Université de Tunis El Manar, Ecole Nationale d’Ingénieurs
de Tunis, LGC, Tunis, Tunisia
Marcelo Messias Universidade Estadual Paulista (UNESP), Faculdade de Ciên-
cias e Tecnologia, Departamento de Matemática e Computação, Presidente Pru-
dente, SP, Brazil
Alessandro Milanesi Department of Basic and Applied Sciences for Engineering,
Sapienza University, Roma, Italy
Turki H. Mohamad Villanova Center for Analytics of Dynamic Systems, Vil-
lanova University, Villanova, PA, USA
Dejan B. Momcilovic Institute for Testing of Materials-IMS Institute, Belgrade,
Serbia
Vincenzo Muscarello Department of Aerospace Science and Technology, Politec-
nico di Milano, Milano, Italy
C. Nataraj Department of Mechanical Engineering, Villanova Center for Analyt-
ics of Dynamic Systems, Villanova University, Villanova, PA, USA
Sotirios Natsiavas Department of Mechanical Engineering, Aristotle University,
Thessaloniki, Greece
Sebastian Oberst Center for Audio, Acoustics and Vibration, University of Tech-
nology, Sydney, NSW, Australia
Diego Orlando State University of Rio de Janeiro, Rio de Janeiro, Brazil
Viktor Pandža Chair of Flight Vehicle Dynamics, Faculty of Mechanical Engi-
neering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Grigory Panovko Mechanical Engineering Research Institute of Russian
Academy of Sciences, Moscow, Russia
Rita Paolini Department of Aerospace Science and Technology, Politecnico di
Milano, Milano, Italy
Contributors xxv

Elias Paraskevopoulos Department of Mechanical Engineering, Aristotle Univer-

sity, Thessaloniki, Greece
Ju H. Park Department of Electrical Engineering, Yeungnam University,
Kyongsan, Republic of Korea
Stepa Paunović Department of Mechanics, Mathematical Institute of the Serbian
Academy of Sciences and Arts, Belgrade, Serbia
Ekaterina Pavlovskaia Centre for Applied Dynamics Research, School of Engi-
neering, University of Aberdeen, Kings’ College, Aberdeen, Scotland, United
Kingdom
Chiara Pepi Department of Civil and Environmental Engineering, University of
Perugia, Perugia, Italy
Andrey Postnikov School of Engineering, University of Lincoln, Lincoln, United
Kingdom
Nikolaos Potosakis Department of Mechanical Engineering, Aristotle University,
Thessaloniki, Greece
Giuseppe Quaranta Department of Aerospace Science and Technology, Politec-
nico di Milano, Milano, Italy
Juliana M. P. Raimundo Pontifical Catholic University of Rio de Janeiro, Rio de
Janeiro, Brazil
Miguel Ramírez Barrios Professional Interdisciplinary Unit of Biotechnology,
National Polytechnic Institute, Mexico City, México
Shivan Ramnarace Department of Mechanical and Manufacturing Engineering,
The University of the West Indies, St. Augustine, Trinidad and Tobago
Giuseppe Rega Dipartimento di Ingegneria Strutturale e Geotecnica, Università di
Roma La Sapienza, Roma, Italy
Alisson C. Reinol Universidade Tecnológica Federal do Paraná (UTFPR), Depar-
tamento Acadêmico de Matemática, Apucarana, PR, Brazil
Kasper Ringgaard Mechanical and Materials Engineering, Department of Engi-
neering, Aarhus University, Aarhus, Denmark
Patrizio Rosatelli Sapienza University of Rome, Rome, Italy
Luciano Rosati Department of Structures for Engineering and Architecture, Uni-
versity of Naples Federico II, Naples, Italy
Giuseppe Ruta University “La Sapienza” and National Group for Mathematical
Physics, Roma, Italy
Francesco Saltari Department of Mechanical and Aerospace Engineering,
Sapienza University of Rome, Rome, Italy
xxvi Contributors

Mauro Lo Schiavo Università di Roma “La Sapienza”, Dip. D.I.S.G., Rome, Italy
Cornelia Schiebold Department of Mathematics and Science Education, Mid
Sweden University, Sundsvall, Sweden
Instytut Matematyki, Uniwersytet Jana Kochanowskiego w Kielcach, Kielce,
Poland
Salvatore Sessa Department of Structures for Engineering and Architecture, Uni-
versity of Naples Federico II, Naples, Italy
Alexander P. Seyranian Institute of Mechanics, Lomonosov Moscow State Uni-
versity, Moscow, Russia
Frederico M. A. Silva School of Civil and Environmental Engineering, Federal
University of Goiás, Goiânia, Brazil
Sudeshna Sinha Indian Institute of Science Education and Research (IISER),
Mohali, Punjab, India
Roman Starosta Institute of Applied Mechanics, Poznań University of Technol-
ogy, Poznań, Poland
Gabor Stepan Department of Applied Mechanics, Budapest University of Tech-
nology and Economics, Budapest, Hungary
Katica R. (Stevanović) Hedrih Department of Mechanics, Mathematical Institute
of the Serbian Academy of Sciences and Arts, Belgrade, Serbia
Gustavo Chaves Storti Department of Integrated Systems, School of Mechanical
Engineering, University of Campinas, Campinas, Brazil
Grażyna Sypniewska-Kamińska Institute of Applied Mechanics, Poznań Univer-
sity of Technology, Poznań, Poland
Dénes Takacs MTA-BME Research Group on Dynamics of Machines and Vehi-
cles, Budapest, Hungary
Ze Tang Key Laboratory of Advanced Process Control for Light Industry (Min-
istry of Education), Jiangnan University, Wuxi, Jiangsu, PR China
Zdravko Terze Chair of Flight Vehicle Dynamics, Faculty of Mechanical Engi-
neering and Naval Architecture, University of Zagreb, Zagreb, Croatia
Giovanna Tomassetti Department of Basic and Applied Sciences for Engineering,
Sapienza University, Roma, Italy
Dinh Duc Tung Bauman Moscow State Technical University, Moscow, Russia
Nicolò Vaiana Department of Structures for Engineering and Architecture, Uni-
versity of Naples Federico II, Naples, Italy
Wanclaine A. Vaz School of Civil and Environmental Engineering, Federal Uni-
versity of Goiás, Goiânia, Brazil
Contributors xxvii

Pierluigi Vellucci Department of Economics, Roma Tre University, Rome, Italy

Luis G. G. Villani UERJ – Universidade do Estado do Rio de Janeiro,
NUMERICO – Nucleus of Modeling and Experimentation with Computers, Rio
de Janeiro, Brasil
David J. Wagg Department of Mechanical Engineering, University of Sheffield,
Sheffield, UK
An Wang School of Mechanical and Electronical Engineering, Lanzhou Univer-
sity of Technology, Lanzhou, China
Xinwen Wang School of Chemical and Environmental Engineering, China Uni-
versity of Mining and Technology, Beijing, China
Yan Wang Key Laboratory of Advanced Process Control for Light Industry
(Ministry of Education), Jiangnan University, Wuxi, Jiangsu, PR China
Ziyun Wang Key Laboratory of Advanced Process Control for Light Industry
(Ministry of Education), Jiangnan University, Wuxi, Jiangsu, PR China
Marian Wiercigroch Centre for Applied Dynamics Research, School of Engineer-
ing, University of Aberdeen, Kings’ College, Aberdeen, Scotland, United Kingdom
Huidong Xu Taiyuan University of Technology, Taiyuan, P. R. China
Pengfei Xu Department of Mechanics, Beijing Institute of Technology, Beijing,
China
Department of Mathematics, Changzhi University, Changzhi, China
Manish Yadav Indian Institute of Science Education and Research (IISER),
Mohali, Punjab, India
Yongfeng Yang Institute of Vibration Engineering, Northwestern Polytechnical
University, Xi’an, P. R. China
MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern
Polytechnical University, Xi’an, P. R. China
Yiğit Yazicioglu Middle East Technical University, Ankara, Turkey
Wan-Suk Yoo Pusan National University, Busan, South Korea
Andrea Zanoni Department of Aerospace Science and Technology, Politecnico di
Milano, Milano, Italy
Haopeng Zhang Institute of Vibration Engineering, Northwestern Polytechnical
University, Xi’an, P. R. China
MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern
Polytechnical University, Xi’an, P. R. China
Wei Zhang Beijing Key Laboratory of Nonlinear Vibrations and Strength of
Mechanical, College of Mechanical Engineering, Beijing University of Technology,
Beijing, P. R. China
xxviii Contributors

Yaobing Zhao College of Civil Engineering, Huaqiao University, Xiamen, Fujian,

China
Hunan Provincial Key Laboratory of Structures for Wind Resistance and Vibration
Control, Hunan University of Science and Technology, Xiangtan, Hunan, China
Hao Zhou Institute of Vibration Engineering, Northwestern Polytechnical Univer-
sity, Xi’an, P. R. China
MIIT Key Laboratory of Dynamics and Control of Complex Systems, Northwestern
Polytechnical University, Xi’an, P. R. China
Dario Zlatar Chair of Flight Vehicle Dynamics, Faculty of Mechanical Engineer-
ing and Naval Architecture, University of Zagreb, Zagreb, Croatia
 Part I
Methods for Nonlinear Dynamics
Nonlinear Dynamics of Multibody
Systems Using an Augmented Lagrangian
Formulation

Nikolaos Potosakis, Elias Paraskevopoulos, and Sotirios Natsiavas

Abstract A class of multibody systems subject to bilateral scleronomic motion

constraints is investigated. The formulation is based on a new set of equations of
motion, expressed as a coupled system of strongly nonlinear second-order ordinary
differential equations. After putting these equations in a weak form, the position,
velocity, and momentum type quantities are assumed to be independent, leading to
a three-field set of equations of motion. Next, an equivalent augmented Lagrangian
formulation is set up by introducing a set of penalty terms. This final set of equations
is then used as a basis for developing a new time integration scheme, which is
applied to several example systems. In those examples, special emphasis is put on
illustrating the advantages of the new method when applied to mechanical systems,
involving redundant constraints or singular configurations.

Keywords Analytical mechanics · Multibody dynamics · Bilateral motion

constraints · Weak form of equations of motion · Augmented Lagrangian

1 Introduction

Research on multibody dynamics helps in developing more efficient and robust

numerical techniques for solving challenging engineering problems. This in turn
yields useful design gains in many areas, including mechanisms, robotics, biome-
chanics, automotive, railway, and aerospace structures [1–4]. Typically, the equa-
tions of motion for this class of systems are derived and cast in the form of a set
of differential-algebraic equations (DAEs) of high index. Earlier attempts to solve
these equations are based on index reduction or coordinate partitioning techniques
[3, 4]. In contrast, the main objective of this chapter is to first create and employ

N. Potosakis · E. Paraskevopoulos · S. Natsiavas ()

Department of Mechanical Engineering, Aristotle University, Thessaloniki, Greece
e-mail: natsiava@auth.gr

© Springer Nature Switzerland AG 2020 3

W. Lacarbonara et al. (eds.), Nonlinear Dynamics of Structures,
Systems and Devices, https://doi.org/10.1007/978-3-030-34713-0_1
4 N. Potosakis et al.

a better theoretical foundation and then proceed to development of more advanced

numerical schemes.
In the new approach, the equations of motion employed are second-order
ordinary differential equations (ODEs). This is achieved by combining concepts of
Analytical Dynamics and differential geometry and leads to a natural elimination
of singularities associated with DAE formulations from the onset [5]. Since the
ulterior motive is the development of an efficient numerical integration scheme,
these equations are first put in a convenient weak form. Moreover, the position,
velocity, and momentum type quantities are assumed to be independent, forming
a three-field set of equations [6]. Finally, the set of equations obtained is solved
by application of an augmented Lagrangian formulation, which is set up after
introducing appropriate penalty terms [7]. Next, the validity and efficiency of this
scheme is tested and illustrated by applying it to a number of characteristic example
mechanical systems.
The set of equations of motion employed is included in Sect. 2. Originally, they
appear in a strong form and are subsequently put in a three-field weak form. After
introducing penalty terms, they are cast eventually in an augmented Lagrangian
form. Then, a temporal discretization scheme is developed and numerical results
are presented for two mechanical examples in Sect. 3.

2 Equations of Motion: Augmented Lagrangian Formulation

This chapter employs a new set of equations of motion, obtained for a class
of multibody mechanical systems subject to equality constraints. The motion is
described by a finite number of generalized coordinates q = (q1 . . . qn ), at any time
t [1, 2]. In this way, it can be represented by the motion of a fictitious point, say
p, along a curve on the n-dimensional configuration manifold M of the system.
Moreover, the tangent vector v to this curve belongs to an n-dimensional vector
space Tp M, the tangent space of manifold M at p [2]. The systems examined are
subject to a set of k motion constraints. For simplicity, these constraints are assumed
to be scleronomic, with form

ψ̇ R ≡ aiR (q)q̇ i = 0. (1)

When a constraint is holonomic, its equation can be integrated in the algebraic

form

φ R (q) = 0. (2)

The equations of motion of the class of systems examined can be cast in the form

h∗ ≡ h∗M − h∗C = 0 (3)

∼ ∼ ∼ ∼
Nonlinear Dynamics of Multibody Systems Using an Augmented Lagrangian. . . 5

on manifold M, where
 •
h∗M = hi e i with hi = gij v j − Λm
 i gm j v v − fi
j 
(4)
∼ ∼

and
k  •
h∗C = hR aiR e i with hR = mRR λ̇R + cRR λ̇R + k RR λR − f R . (5)
∼ R=1 ∼

In Eq. (5), the summation convention on repeated indices does not apply to
index R. Moreover, the coefficients mRR , cRR , k RR, and f R are determined by the
constraints [5]. Equation (3) represents a set of n second-order coupled strongly
nonlinear ODEs in the n + k unknowns qi and λR . A complete mathematical
formulation is obtained by incorporating the k equations of the constraints, which
are expressed originally by Eqs. (1) and (2). In particular, these equations are
replaced eventually by
 •  •
gR = mRR φ̇ R + cRR φ̇ R + k RR φ R = 0 and gR = mRR ψ̇ R + cRR ψ̇ R = 0,
(6)

respectively, for R = 1, . . . , k [5].

Taking into account Eq. (3) leads first to
 t2   
h∗M − h∗C w dt = 0, ∀w ∈ Tp M, (7)
t1 ∼ ∼

along a natural trajectory on the manifold and within any time interval [t1 , t2 ].
Moreover, as variation of a function f is defined the derivative of f along vector
w, by

δf ≡ w(f ) = fi w i . (8)

Then, wi = δqi for each holonomic coordinate, while a little more involved rela-
tion is obtained in case of nonholonomic coordinates [6]. In addition, the position,
velocity, and momentum variables are considered as independent quantities in the
sequel. For this, a new velocity field υ is introduced on manifold M, which should
eventually be forced to become identical to the true velocity field v. This means that

υ i = v i ⇒ δυ i = δv i , (9)
   
with variations defined through Eq. (8) by δυ i = w υ i and δv i = w v i . In
analogy to the action leading to Eq. (7), conditions (9) are imposed by
Exploring the Variety of Random
Documents with Different Content
 CHAPTER XXXV
SHE LISTENS TO THE CONVICTS DEBATING

Tom and the prize-fighter talked together whilst Mr. Bates got the
boats alongside and superintended the stowage of provisions and
water in them. I went into the shadow of the awning to get out of
the heat of the sun and to remove myself from Tom, that we might
not be seen together constantly. Some of the ringleaders, as I must
term the fellows whom the convicts undoubtedly regarded as heads
or chiefs under Tom or Abram, joined my sweetheart and the prize-
fighter, and the air speedily hummed with the eager, animated talk
of the crowd. Will joined me, and we watched the long-boat. She
had gone about a mile, and they had hoisted the sail for the shelter
of its shadow. It hung like a sheet of silver from its yard, without a
stir, so smooth was the sea, so still the air. The soldiers continued to
sweep the boat along; the oars glanced like hairs of silver as they
rose and fell.
Will went to the binnacle to judge of the course the boat was
making. The scoundrel seaman who grasped the wheel growled out
with a low, coarse laugh and in a cursing voice some remark I did
not catch.
‘You wouldn’t have said that yesterday,’ exclaimed Will, and came
back to me without taking further notice of the miscreant. ‘They are
heading due west,’ said he. ‘I don’t suppose they will make up their
minds till the other boats join them.’
‘What is the nearest land?’
‘The Brazilian coast. But the nearest is a long way off. There’s but a
small chance for them outside of being picked up. And yet what a
lump of a boat she is compared with the gig! When is she to be
provisioned? And when are we to get away? And when we’ve got
away, what’s going to happen? Good angels, I wish we were both at
Stepney!’
‘Leave everything to Tom,’ said I, ‘and do as he tells you.’
He looked at me with a mutinous eye, went to the rail and stared
over the side. Tom and the council of convicts had left the poop. I
peered through the skylight; the cuddy was empty, the table covered
with fragments and remains of food with broken china and broken
bottles and glasses, and the deck scarcely fit to walk on for the
wounding stuff that strewed it. I went to the break of the poop to
see what they were about on the main-deck. Both quarter-boats
were alongside and a gang of convicts were stowing them. The
decks were filled with the people, who, since the departure of the
long-boat, had grown orderly. The mass of them conversed in knots;
groups hung about the galleys. They had discovered pipes and
tobacco—tobacco there would be in plenty for the guard and the
crew, and possibly a stock of pipes. A number of the convicts had
pipes in their mouths, and their profound enjoyment of the tobacco,
after months and, perhaps, years of penitential abstinence,
undoubtedly helped to keep them quiet.
The sun stood something to the left of north, and the tall,
motionless spaces of canvas on high cast shadows over the decks,
and betwixt the rails the high noon was endurable. A thick, sickly
smell of roasted paint rose from the ship’s side. If you put your hand
upon the exposed wood or any piece of metal, you were burnt as
though you touched hot iron. I thought to myself: If these unhappy
wretches should run short of water! If this calm should hold them
motionless here for days and perhaps for weeks! For calms often
serve ships so in these parts, as I had heard my father and his sea
friends tell. I sought to compute the number on board, and, allowing
for those who were presently to leave the ship, I calculated we
should muster hard upon two hundred and fifty souls. When Tom left
them, what would the miserable creatures do? But, then, what was
that to me? All I cared for was that Tom should come off with his life
and be a free man, no longer a degraded criminal, clanking in irons,
to be mangled by the cat, perhaps, at the will of any ferocious
Tasmanian ruffian who might take a dislike to him. The convicts had
seized the ship. One had but to look toward the now distant long-
boat to appreciate the felons’ estimate of human life. I could not pity
them when I thought of how they would have kept the women and
children and of the havoc they had wrought below, and when I
looked at their faces, recalled their songs and oaths in drink, their
bestial speech, and saw the plunder on their vile backs.
Tom and Abram and a little crowd of men stood near the gangway.
My sweetheart looked on. He gave no orders. Poor Mr. Bates did all
the work of superintendence, and watched the convicts as they
slung the provisions and water for the seamen into the quarter-
boats. When this work was ended, some cries were raised; the
throngs of people gathered about the main-hatch and filled the
quarter-deck; the armed malefactors formed a lane as before, but
this time the fiddler did not make his appearance.
A hoarse voice at the main-hatch summoned the fellows below to
come up, and one after another the crew arrived. The huge one-
eared boatswain, with his staring, glassy eyes, scowled round him
with daring, defiant looks. Abram stood in the gangway and he
halted every man ere passing him over the side to say: ‘You cad stop
with us if you like. We’re short of worki’g ’a’ds and we’ll treat you as
one of us. What’ll you do?’
Mr. Balls made no answer; he passed sullenly on; so did the
sailmaker and carpenter. Mr. Stiles, with a bewildered look at the
convicts and then through the gangway at the white gleam of sea
visible there, wiped his face on the sleeve of his convict jacket and
said: ‘Where might you be bound to, sir?’
Some one cried out: ‘That bloke was the ship’s steward. He’s of no
use.’
‘Over you go,’ said Abram, giving Mr. Stiles a dab with his immense
hand between his shoulder-blades, and the steward went with a run
to the gangway and disappeared down the ladder.
Two of the sailors agreed to remain. Will, who had come to my side,
told me that they were the poorest, most skulking and worthless of
the forecastle hands. The convicts, however, cheered when these
fellows said they would stay, and the armed men opened to let them
pass into the crowd. Will’s fellow-apprentices looked up at him as
they went to the boat, and one made a face as though to express
his disgust at what he took to be my cousin’s disloyalty or cowardice.
I marked the effect of this upon Will, and grasped him by the arm,
whispering passionately: ‘Not a word!’ and knew by the working of
his face that I was just in time to arrest some angry protesting
sentence that might have endangered him and me too.
Whilst the seamen filed through the gangway, I chanced to look
down upon a crowd of convicts on the quarter-deck, and spied a
fellow pick another man’s pocket. He did it with admirable
nimbleness and dexterity. Both men, the thief and the victim, were
dressed in Lieutenant Chimmo’s clothes. The man that was robbed
was the rogue who had held up Captain Sutherland’s gold watch and
chain as though he meant to play at bob-cherry, and it was this
watch and chain which the other sneaked with inimitable adroitness.
I supposed no one but myself saw this; many stood about, close,
too, and the fellow stole the watch with the most foolish, staring,
innocent face you could imagine, looking at the seamen going
through the gangway as though he could think of nothing else. But
scarcely had he snugged the watch and chain in his side-pocket,
when another convict next him whipped it out with incredible skill
and swiftness. Indeed, I should not have remarked the motions of
the rogue’s hand but for the gleam of the gold. A minute later, the
first convict put his hand to his pocket and missed the watch. He
turned furiously upon the second convict, shouting: ‘A thief! A thief!’
for all the world as though he had been some respectable man in
the streets just robbed. The felon who had the watch roared out: ‘A
thief! A thief!’ and fell upon the second convict whose pocket he had
picked. A scuffle followed. The second convict, whose guilt appeared
to be assumed by all who stood near, as though they knew him as a
thief without morals and capable of robbing a brother-thief, was
kicked and beaten, and a mob of shouting convicts, with this rascal
in the midst of them, surged forward, and I took notice that the
rogue who shouted the loudest and kicked the hardest was the
fellow who had the watch.
This commotion caused no uneasiness amongst the crowd who
stood on the side of the deck where the open gangway was. No
doubt they understood what had happened, and guessed that
enough were concerned in the scuffle to insure justice being done.
By this time both quarter-boats were filled with the seamen. I dare
say there were eleven or twelve men in each, and more could not
have gone without peril, for they were small boats, though they
were stout and fairly new. Bates had seen that each craft had its
proper equipment of mast, sail, oars, rudder, and the like. One of the
ringleaders, a sallow-faced convict with a hare-lip and but two or
three fangs in his upper jaw, roared down to the seamen to shove
off, and in a few minutes both boats were heading in the direction of
the long-boat, which had come to a stand awaiting them. Many
convicts sprang upon the bulwarks and howled out insults in the
wickedest language of the slums, in the most revolting speech of the
great city rookeries and haunts of sin and infamy. The seamen
rowed away in silence.
Tom came on to the poop and looked at me a little while with a face
of grief and horror, as though his very soul shrank up within him, to
think that I should be a spectator of such scenes and a hearer of
such language. I read his mind; he would not approach me to speak.
Barney Abram followed, and with him were the hare-lipped man and
some score of convicts, of whom half might have been principals in
the seizure of the ship.
‘Let’s get to busidess,’ said Abram. ‘Talk to the people as was
arradged, Butler.’
On this, Tom, laying hold of the brass rail, leaned forward and cried
out that every man was to come together on the quarter-deck, as he
had a few words to say to them. Mr. Bates stole up the ladder to my
side and, without speaking, gazed with a look of bitter distress at
the receding boats. Still was the ocean as polished a plain as ever it
had been during the morning. The sun flashed up the water into
blinding dazzle in the north-west, and the heat was terrible. There
was no motion in the ship to fan the lightest of the topmost cloths;
the atmosphere floated like the breath of an oven, without
refreshment of the draughts which circle about a deck when the
becalmed craft leans with the swell and her courses and topsails
swing. The convicts massed themselves upon the main-deck; their
faces were white or scarlet with the heat. The drink had been
distilled out of them by the roasting temperature, and the unhappy
beings stood looking up at Tom with as orderly a bearing as ever
they exhibited when the doctor addressed them.
‘Men,’ said my sweetheart, ‘I’ve taken charge of this vessel. It’s the
interests of everybody aboard her that I’ve now to consider; it’s for
us, all assembled as we are, to consider what’s to be done. And first
understand this: No ship can be sailed without discipline. Look aloft,
men, at those vast heights. You see for yourselves what a
complicated thing a ship is. If I and the mate of your own election,’
and here he pointed to Mr. Bates, ‘give an order, it must be promptly
obeyed. If not—but you’re not fools—you can guess what must
follow if we’re not obeyed. I’ll not interfere in any arrangements
which don’t affect the safety of the ship. You’ll sleep where you
choose, and eat when you choose, and whatever you do that doesn’t
concern our lives will be no business of mine. But remember, there
are nearly two hundred and fifty of us!’
He was interrupted by some voice shouting out the exact number.
‘You taste this weather, don’t ye? You can guess how it would fare
with us to run short of water, and next to that would be the running
short of provisions. You must be willing to go on allowance.’
‘Willing? Of course. That’s to be expected,’ broke in three or four of
them.
‘Those amongst you who have been seafaring men will unite with
the sailors and form a crew and take the forecastle for your
quarters, which must be your own, never to be intruded upon. Is
that understood?’
‘Understood!’ was the answer, in a roar.
‘The rest will form themselves into three watches under heads, as in
the doctor’s time; and every watch will come on deck turn and turn
about, and stand by to assist the crew by pulling and hauling,
cleaning and making the ship sweet, and so helping to keep you all
alive, ready for the run ashore when the hour comes.’
A great cheer echoed this sentence.
‘Mr. Bates,’ continued Tom, ‘knows where everything is stowed in this
ship. He’ll sample your food for you and name you your water
allowance. Use him kindly, men. He’s of first-rate consequence to us.’
When this was said, Barney Abram crossed to the mate, brought him
to the middle of the break of the poop, near to where Tom stood,
and there, in the sight of all the convicts, shook him by the hand.
This was done in silence, but it was a very expressive performance—
some might hold after the Eastern manner, seeing who was the main
actor.
Tom went on: ‘I must have the captain’s cabin; the navigating
instruments of the vessel are there and certain conveniences of
furniture. The chief mate will also need his cabin; he’ll share it with
that young gentleman,’ said he, pointing to Will. ‘If any of you in the
hurry of this morning has mistaken Mr. Bates’s effects for Captain
Barrett’s or the other officers’ or the commander’s, I’ll beg him to
return them. He is our friend, and Mr. Abram wishes him to be well
used. It is not right he should be thus dressed.’
‘Look at yourself?’ cried a voice on the quarter-deck.
‘Yes, but I’m a convict!’ exclaimed Tom, savagely.
This raised a roar; a hundred men seemed to speak at once; they
yelled out to this effect—that there were no longer any convicts
aboard that ship, that they were all free men, that they had got their
liberty and meant to keep it, and so forth.
‘Order!’ bawled Abram, raising his arms above his head. ‘We’re here
to discuss batters quietly. The capt’id’s talked very sensibly, ad I’b
with hib up to the hilt as far as he’s gord. Are those your sedibents?’
said he, looking round at the little crowd of convicts who stood near.
‘There must be discipline,’ answered one of them, ‘and Butler’s
talked very good sense so far.’
‘How about the stock of spirits?’ exclaimed a tall, thin, pale, grey-
haired convict, dressed in an officer’s shell-jacket too short for him—
so that when I think of him now it is always somehow in connection
with Mr. Dickens’s incomparable figure of Smike. ‘’Sponsible men are
wanted to see to that.’
‘You’re right, Williams,’ said Tom, giving him an emphatic nod.
‘Every cask of spirits,’ continued the man, speaking somewhat
nasally and amidst a silence that might have rendered his voice
audible as far as the forecastle, ‘is full of little devils swimming
about. And every little devil, when he’s swallowed, carries seven
other little devils, all a-clinging to one another’s tails, down into a
man’s inside. Call it eight devils,’ said he, raising his voice. ‘One for
each eye, is two; one for each ear, is four; one for the tongue’s, five;
and there’s three over to keep the others goin’ it. ’Sponsible men,
Abram, if that there sea is not to shut up this pleasing dream of
liberty.’
‘Men,’ said Tom, ‘there’s sound reason in what you’ve heard. But I
spy good sense breaking out amongst you all. Don’t let your feelings
carry you away. Look at the mess in the cuddy! What good has your
drunken, breaking scramble done? The sober and sound amongst
you should compel the men who smashed up that pleasant interior
to clear it out, and to make it a shipshape abode for those whose
quarters it’s to become.’
Some one shouted: ‘We’ll have that done!’
‘Dow talk to us about where we’re to go,’ said Abram.
‘Talk to me, and I’ll advise you,’ said Tom, with his eyes upon the
crowd beneath, folding his arms and standing erect.
‘You’re a navigator and know the world,’ exclaimed the sallow, ill-
looking man with the hare-lip.
‘Aye, and I’ll counsel you when you’ve spoken and want advice,’ said
Tom.
‘Where are we now?’ exclaimed a convict on the quarter-deck.
‘Shall I give it to you in parallels and meridians?’ answered Tom, with
a sort of angry scorn in his voice. ‘You wouldn’t understand me.
Suppose Mr. Bates brings you up a chart, there’s no room for hard
upon two hundred and fifty heads to overhang it at once; and how
many of you can read, that it should be passed around? Now listen:
We’re in the middle of the ocean to the north of the Equator. Yonder,’
said he, pointing over the port beam, ‘many hundred leagues
distant, is the Gulf of Guinea and the great bight of the African coast
from Cape Formosa to Cape Frio.’
The convicts turned their heads all one way, staring like one man,
some of them getting on their toes to look.
‘Yonder,’ continued Tom, pointing over the starboard beam,
whereupon the heads of the convicts went round as before and all
the poor, ignorant wretches stared as though by looking they’d see
the land, ‘is the great Brazilian seaboard from Cape St. Roque to Rio
Janeiro.’
I observed that Abram gazed at Tom with an indescribable smirking
grin of admiration, as though struck by his familiar acquaintance
with land entirely out of sight.
‘But my words,’ continued my sweetheart ‘give only a few who are
educated amongst you any ideas. Yet I can tell you no more than
this: That we are in the heart of the great Atlantic Ocean, and that a
huge world for choice is spread on either hand, away in the Pacific
by rounding Cape Horn and away in the Indian and Southern Oceans
by rounding the Cape of Good Hope. Where shall I carry you to?’
A number of the convicts spoke at once.
‘Wud at a tibe! Wud at a tibe!’ yelled Abram.
‘Let’s go home!’ shouted a man on the quarter-deck.
‘Debate it,’ said Abram.
An uneasy stir ran through the mass of the convicts, and a long,
deep growl of dissent.
‘Home!’ cried Tom, passionately. ‘How’s home called in English?
What’s its name? Is it Newgate or Millbank or her Majesty’s ship
Warrior? Is it the Dockyard and the Arsenal and irons and handcuffs,
cursing warders and carbines ready for your brains? You want my
advice; I’ll counsel you.’
Some angry laughter broke from the men.
‘Who’s the madman that talks of home?’ shouted Tom. ‘Shall I sail
you up the Thames and moor ye alongside the hulk? Is Plymouth
your port, or do you choose Portsmouth?’
‘Why not try for the islands about Torres Straits?’ exclaimed one of
the convicts who had been a seaman. Several bawled to know where
Torres Straits were.
‘To the nor’ard of Australia,’ replied the convict. ‘There the sea’s thick
with islands. Plenty to eat and drink, mates, and casting away a ship
is as easy and safe as drawing a cork.’
‘Ain’t Norfold Island hard by?’ exclaimed another.
‘My idea,’ said a ringleader, raising his voice as he overhung the
poop-rail, ‘is to beach the vessel on the West Coast of Africa. There
we breaks up into parties and disperses, and every party has their
yarn ready manufactured to account for theirselves ag’in’ being met
with or falling in with a settlement.’
‘Were you ever ashore on that coast?’ exclaimed Tom.
‘No,’ answered the man.
‘Then put this picture before you, one and all, for I who address you
know what I am saying: Not a patch of verdure; leagues of sand like
glass, glaring and shining; a few half-starved jackals; a few
bushmen, who live on beetles and putrefied seals and go clothed in
stinking sheepskins; a hare or two at long intervals, and a few sand-
plants; the sun at noon like a lantern looming in vapours; here and
there penguins braying; here and there sea-fowls shrieking, and the
surf roaring always. Is that good enough for you? You’d be clean-
picked bones in a week.’
All this while the ocean remained breathless. Far away were the two
black specks of quarter-boats, and beyond was the gleam of the
long-boat’s sail, a point of light under the horizon like the image of a
star. Fortunately for the convicts, the lay of the yards flung the
shadow of the canvas upon the deck. Otherwise it was broiling
where the sun was. The poop was sheltered by the awning that
stretched from the mizzen-mast to the brass rail. Many of the people
stood with their coats over their arms and their shirts open. A mist
rose from them. I figured how it had been at night in their quarters
when I saw that mist and the motionless wind-sails and the main-
hatch half sealed with its cage-like barricade.
‘May I speak?’ cried a man on the quarter-deck, lifting up his hand.
‘To the poi’t,’ answered Abram. ‘Every bad with ad idea bay speak;
but to the poi’t.’
‘Here’s a big ship,’ said the man, in a very fair cultivated accent (he
was about six-and-twenty years of age, had held a situation as a
clerk and had been sentenced for forgery), ‘and we’re a numerous
and powerful company of determined men, needing nothing but the
organisation that Captain Butler’s capable of. I propose that we
chase small vessels and capture them, send their crews adrift like
those yonder, man each captured craft with a number of ourselves,
every lot containing a proportion of those who are sailors or who
have followed the sea. This would disperse us. Every crew would do
as they thought proper with their own craft. I should be for wrecking
mine on some safe coast near a town where we could represent
ourselves as castaways.’
The convicts listened with close attention. Abram looked at Tom,
who made no sign.
‘What d’ye say to it, Butler?’ shouted a fellow.
‘Do what you please,’ answered my sweetheart.
‘Advise us,’ said the hare-lipped man.
‘It’s a landlubber’s fancy,’ said Tom.
A number of men talked at once. One of the original crew of the
Childe Harold roared out: ‘It’s smothering rot! The capt’n’s laughing
at you! Chase! In a craft arter this pattern, with twelve or fourteen
hands and a working crew, ne’er a great gun nor a soul saving the
capt’n and the mate as ’ud be capable of navigating them small craft
after they was boarded and taken!’ He spat hard and turned his back
in contempt.
‘My notion’s been this all through the blushen piece,’ said a beetle-
browed, flat-nosed, ruffianly looking convict. ‘Sail to an oninhabited
hisland and settle him. A hisland where there’s grub agoing in fruit-
trees and beastesses of fish what crawls upon the beach, all which
there’ll be some here as has heard of. Where water trickles sweet
an’ cold, and the weather it ain’t too hot. There, upon that hisland,
we can concoct and consart, and them what pleases can be took off
by passing vessels. The others will be a-doing as did them mutineers
of the Bounty whose capt’n he was named Bligh. We moors this ship
and keeps her handy. Females ain’t ever fur to look for. In this ’ere
ship wives can be brought from places which ain’t too fur off and
where the colour won’t be wrong, the ’igh seas being vide of choice.
That’s bin my notion all through the fired piece.’
‘Who’s next?’ shouted Abram, impatiently.
One of the remaining crew of the ship—a sailor with a cast eye and
a head of hair so exactly resembling oakum that no convict could
look at it without finding something personal and a sort of reflection
in it—this man, who sat high-perched above the heads of the throng
on the quarter-deck winch, snapped his fingers at the poop and
asked leave to address the gents.
‘What d’ye want to say?’ shouted the hare-lipped man, who, I
gathered, ranked next to Abram as the principal ringleader.
‘Gents, all,’ cried the fellow, ‘man an’ boy, I’ve followed the seas for
two and twenty years, and in that time I’ve sailed all about the world
and there’s scarce a furrin part as I haven’t visited. Now, if I was
you, speaking with Captain Butler’s good leave, what I’d do’s this:
Round the Horn t’other side of South Amerikay there lies what’s
called the Narth Pacific Ocean. From the Sandwich Islands, right
away to this side the Philippines, including of the Ladrones and the
Caroline Islands, it’s all chock-a-block with the sort of little countries
ye oughter visit. A lovely cordial drink they manufactures out of
cocoanut juice. There’s no call for clothes. The natives are friendly
disposed. Them as ain’t are easily knocked over the head. White
men like yourselves live in them islands. If I was you gents, I’d get
Captain Butler to steer the ship into the Narth Pacific, touch and
discharge a score of ye, touch and discharge another score, touch
and touch again till this here multitude was broke up. That’s my
notion, gents, and your chance, and I’ll ask Captain Butler what he
thinks.’
‘It’ll do!’ exclaimed Tom. ‘I would propose nothing better.’
On this there was some confusion, owing to a number of the
convicts cheering, whilst others shouted questions to the poop. The
silence upon the sea, and the ship lying as stirless as though she
were at anchor, made this strange council of convicts somewhat
ironical to my mind. It was hard to cast one’s eye over the lake-like
ocean and realise the North Pacific as a part of the world that was to
be come at by the vessel. Tom’s approval of the seaman’s scheme
seemed to settle the matter. Many questions, most of them ignorant
and ridiculous, were bawled. They were answered from the poop,
sometimes by Tom, sometimes by Abram and the ringleaders, and
sometimes they were answered by fellows on the quarter-deck.
After a little, and whilst the decks were a-buzz with the vast noise of
talk, the prize-fighter asked Mr. Bates to produce a chart of the
islands named by the seaman. Mr. Bates fetched a chart. It was a
big sheet with a blue back, comprised a portion only of the North
Pacific, and was very clearly drawn and printed. This chart was laid
upon the skylight and the corners weighted. The principal convicts
drew in a body to it.
I stood near and overheard the talk. They called up the sailor, and
he pointed to three or four of the islands which he said he had
visited. The hare-lipped man asked him if British ships of war cruised
in those seas. He answered that here and there a small surveying-
vessel might be fallen in with, ‘but nothen to take notice of,’ said he,
‘nothen that’s going to hurt ye. It’s your best chance, gents. Many
sorts of vessels are a-touching at them islands for water, nuts, and
sometimes for their entertainment, and often again for their
convenience. The sailors run, ’specially from the South Seamen.
You’ll have your yarns ready in case of questions; but down in them
parts curiosity ain’t what you might call active. Stick to this here
scheme, and there’s nothen to hinder any man as has a mind to
retarn home from finding himself arter a year or two in Lunnon
again, with dollars enough in his pocket to keep him in wittles till
something turns up.’
‘All that this man says is very true,’ exclaimed Tom. ‘He’s given us a
good scheme. We’re obliged to him.’
Saying this, he edged out of the crowd about the skylight and,
seeing me abreast of the rail, came and stood beside me.
‘Is it a good scheme?’ I whispered, without looking at him.
‘It will amuse them,’ he answered softly. ‘I must seem in earnest.
What do I care?’
‘You control them wonderfully.’
‘Poor wretches!’ he muttered, and, stepping to the companion-way,
took the ship’s telescope out of its brackets and pointed it at the
three boats upon the sea. Their situation was now determinable to
the naked eye by the dim, tiny gleam of the long-boat’s sail.
‘They’re sneaking westward,’ said Tom, talking low with his eye at
the glass. ‘The American seaboard may give me the chance I want.
Eastward nearly everything afloat is British—curse the name!’
By this time, the convicts on the quarter-deck had got wind of the
chart on the poop and were crowding up the ladders to look. That all
might obtain a sight, Abram bawled a recommendation to them to
form themselves into small divisions. This was done. The chiefs or
ringleaders broke up the mass into little gangs, and one after
another these gangs came to the skylight and overhung the chart.
The cast-eyed sailor with the hair of oakum stood by to answer
questions and pointed out the islands. Some of the educated
convicts dwelt upon the chart so long, musing, running their fingers
down the meridians, calculating distances and so forth, that the
waiting gangs howled at them with impatience. Yet all was now
orderly as one could wish—far more orderly than I had dared
expect.
As the gangs passed on from the skylight aft, viewing the chart and
questioning the cast-eyed man, they broke up and hung about
various parts of the poop or returned to the main-deck. The coarse
joke, the loud, brutal laugh was frequent; but there was no horse-
play, none of the former huge, hideous, cart-horse gambolling,
shouting, and tipsy fighting. The heat lay upon the people like a
weight. Their spirits were sobered by the extraordinary oppression of
the vast, silent, roasting calm.
‘Abram,’ called Tom, holding the telescope and still standing at my
side, ‘let some of the men—those responsible for the mess—clean
the cuddy out. Look through the skylight. The deck’s full of broken
glass. And my advice to you and the others is to arrange without
delay for the distribution of the people for the night. You’ll want
cooks. Those who have been cooking so far should continue. They
know what’s needed, where to seek, how to manage. Mr. Bates here
will counsel you on quantities. I wish to see the ship cleared fore
and aft, and everything ready for any sort of weather that may come
along. Ay, and there’s more yet. Suppose an English man-of-war
heaves in sight and signals us, we must know what to do and be in
readiness to do it. The pennant’s an old cure for dull sight. A devilish
keen eye that never winks lies spliced in the fly of every man-of-
war’s whip. And d’ye see that, Abram?’ he cried, pointing at the sea
over the starboard quarter.
Twenty or thirty convicts were upon the poop, and they all turned
their heads and stared in a hurrying, eager way in the direction
indicated by Tom’s levelled forefinger.
‘See what?’ exclaimed the prize-fighter, lifting the sharp of his
massive hand to his brow, and straining his black, fiery vision.
‘That dark blue line.’
Tom stepped to the rail and cried out: ‘Stand by, all you seamen
aboard this vessel, to trim sail!’ Then turning to Abram: ‘Tumble the
people to their work of cleaning up, will ye?’ he cried. ‘Put the cooks
to their duty; we can’t starve!’ He then turned to me and, placing
the telescope in my hand, said loudly: ‘Marlowe, replace this, then
go to your berth and carry what belongs to you to my cabin, and
wait for me there.’
 CHAPTER XXXVI
SHE SUPS WITH HER SWEETHEART

I went quickly, that the people might see how smartly I obeyed the
new captain. A few convicts roamed about the cuddy, staring as
though out of curiosity into the plundered berths and at the
decorations and lamps, and needlessly crushing the broken glass
into the carpet as they walked. I stepped warily and got to my berth,
unlocked the door, and found all right within. I could not help
reflecting upon what had passed since I was last here; it seemed a
week since I was in this berth, so violent, hurried, and numerous
had been the incidents of that day.
I made one bundle of my woman’s attire, the other clothes and a
few toilet things, and went to the captain’s cabin. Then, thought I, I
shall want a mattress to lie on, so I fetched the convict’s mattress,
pillow and blanket, and shut the door and sat down to wait for Tom,
no one during these journeys having taken the least notice of me.
It was horribly hot, and I opened the large circular port and leaned
with my head in the orifice. I now heard a noise of the rippling of
water, and saw the sea of a deep shade of blue to about a mile
away, where it then gleamed white and polished, the calm being still
unbrushed there. The ship had caught a little air of wind; ropes were
flung down overhead, the soft patter of naked, the sharp beat of
shod feet actively running about sounded through the planks; the
silence upon the water was now broken by the voices of men singing
out as they hauled, and presently at a pistol-shot distance I saw
what might have been a piece of green timber feathered with weed
slowly slide past.
I looked around me, and my heart was full of pity when I thought of
Captain Sutherland. I pitied him, I say, and I grieved for the women
and the little children, but the soldiers and the others did not appeal
to me. I took no interest in the fate of the doctor and Captain
Barrett, and I never could forget that one of the soldiers had shot
the poor madman, and that all would have slaughtered every convict
at the word of command with less compunction than the convicts
themselves had sent them adrift.
The captain’s cabin was wrecked; he had slept in a handsome
mahogany bunk, and its mattress was ripped open as though the
beasts who did it hoped to find money or some sort of booty hidden
in the hair. Two little miniatures had been left to hang upon the
bulkhead; one was the captain, the other a lady, doubtless his wife,
a rather pretty, grave-looking woman. I thought of how Tom and I
had sat for our miniatures, and wondered if the captain’s wife were
alive, whether she would ever see her husband again. Should I ever
have seen Tom again but for my resolution to hide in the ship that
was to transport him? This reflection made me mad.
Whilst I sat or walked about, lost in inflaming thoughts, I heard a
great noise in the cuddy and, peeping out, spied some fifteen or
twenty convicts hard at work brushing and tidying up the interior.
Abram just then came in with a little company of the ringleaders; I
may tell you that there were perhaps twelve to fifteen heads in this
uprisal, not counting Tom, whom I never would name as having had
a share in it.
On hearing Abram speak, I held the door open by about an inch.
The prize-fighter and his crew stood close against my cabin, talking
and looking on at the convicts at work. They were arranging for their
own accommodation.
‘Butler takes the captid’s cabid, that’s fair,’ said Abram. ‘His y’u’g fre’d
shares it. That’s Butler’s business. Bates a’d adother wud’s provided
for yodder. You a’d be,’ he continued, addressing one of the convicts,
‘will take the cabid dext to the captid’s. Right aft don’t soot be; the
botion there bakes be ill. The rest of you will fide pledty of roob. I
recobbe’d that the better order abogst us tosses or draws for the
accommodatiod dowd-stairs. We dote wadt to be suffocated by
dumbers in this part of the ship; the old quarters will be thid
(thinned) by those who cub aft; with the hatch oped, the widsails
dowd and the barricade id shivers, they’ll be airy edough; ad thed
there’s the soldiers’ quarters.’
A few minutes later Tom came in. He shut the door and took me by
the hand and kissed me; sat down, and made me sit beside him, still
holding my hand, whilst he gazed at me with the full affection of his
dear, noble heart. He was pale with the heat. His eyelids dropped
with the weariness that was upon him. He was clad, as throughout
the day, in his convict shirt and trousers.
‘There is a little breeze, and we are under way again,’ said he. ‘I
wish it may hold. There is no telling what ship may fall in with the
boats, and the quicker I can push the vessel out of these parts the
better, though I must keep the tropic latitudes aboard to get away
in,’ said he, softening his voice. ‘We shall need smooth water and
fine weather, dear one, and God’s care. It may be done to-night. It
may be done to-morrow night. All must be in readiness.’
I told him what I had just overheard.
‘Let them do what they like,’ said he. ‘This cabin’s ours, and by that I
mean that it’s yours. I can rest anywhere whilst you sleep, and can
take a nap here, if you like, when you are out of it.’
I was about to speak. He smiled, and silenced me with his hand.
‘Don’t you remember the lectures I used to give you? Let all things
be as I wish. Will and poor Bates will be safely lodged. It cannot be
for long. A night or two. Nay a week, if you will. But long it must not
be,’ he added, with a note of passion. ‘Could I keep you in this ship?
What have you already heard and seen? Oh, it is not fit! It is not fit!
Such scum as they are! Such foul-mouthed hogs! When I think of
what I used to suffer at night in the hulk—forced to listen, lying
sleepless, though nearly dead with the awful toil of the day!’
Our talk then softly and swiftly ran on many matters which I shall
not tease you with, such as what we should do if we came off with
our lives in the gig; the surest and yet most convenient places in the
world for Englishmen to hide themselves in; my plans as to the
disposal of my house in London; the drawing of my money secretly,
so that the law should not be able to get at him by finding out where
I was. These things and the like we talked of whilst we sat hand in
hand, and sometimes he would break off to kiss me and thank me
for my love and loyalty and to admire me.
I asked him how the gig was to be secretly provisioned and got
ready for lowering.
‘I have arranged for that,’ said he. ‘I told Abram awhile ago on the
poop, and some dozens besides heard me, that it was my practice at
sea to keep my boats provisioned and watered. I then rattled about
our having but three boats, talked of the big number of souls
aboard, and said that in a day or two, when things had settled down
a bit, I’d hunt out the carpenters and handy workmen amongst the
people and put them to making a number of rafts after a design of
my own, so that in case of foundering no man need lose his life for
the want of something to float on. This sort of talk pleased them
mightily. Convicts set a high value on their lives. The bigger the
rogue the bigger the price. And of all the people in this ship Barney
Abram is the man who’d be the least willing to die, be his spirit what
it will when he enters a ring. So then and there I told Mr. Bates that
the boats were to be provisioned and watered the first thing to-
morrow morning, and I turned to Will, who stood by, and
significantly ordered him to take the gig under his own care and see
to her.’
‘That was clever,’ said I, clapping his hand with mine.
‘The difficulty I foresee,’ he went on, ‘is the helmsman. Yet it is to be
managed. I wish there was no moon this week; but, fair or foul, I
must have you out of this ship of devils.’
He then looked about him at the nautical instruments, the charts
and books, peeped here and there, and took a sorrowful survey of
the plundered berth. He put my convict mattress and pillow into the
bunk and said that would be my bed by night—for the night or two
we were to remain on board—that he would lock me up out of
harm’s way and release me in the morning. I dared not expostulate;
he was my master if he was not yet my lord; his least command,
nay, his lightest wish, moved me as a powerful impulse. Where
would my dear one himself sleep? Yet I was afraid to ask.
‘Now,’ said he, ‘I want you to keep clear of the convicts. Get away
out of hearing of them. Lodge yourself here closely; you’ll not be
missed. I’ll lock you in, and no one will dare trouble you. I’ll tell
them you’re helping me in the navigation of the ship and acting as a
sort of captain’s clerk. It’ll be but for a day or two. Meanwhile we
must eat and drink. Come forward and see what’s doing in the
galley.’
We were leaving the cabin, when he stopped to exclaim: ‘Do you
know what a slop-chest is?’
‘Yes.’
‘Is there one in the ship?’
‘I’ve heard Will speak of a slop-chest.’
He nodded, and we then left the berth. They had trimmed up the
cuddy, but the starred and splintered mirrors made a ruin of it.
Abram was gone; a number of convicts lounged about the interior.
Some seemed to be preparing the cabins; others were seated with
their legs hoisted on to the table, others sprawled along the
cushioned lockers. Most of them were smoking. A continuous
hoarse, sulky growl of conversation, frequently broken by a short,
deep laugh, rolled through the cuddy.
Tom called out: ‘Do any of you know if they’re preparing a meal for
the people?’
‘Ay,’ answered one of the men, ‘the cooks are at work. Some beef’s
been taken out of the cask, and the officer called Bates has sarved
out tea and sugar—the reg’lar muck-mess, pal.’
‘Where are we to eat?’ exclaimed a heavy-faced, coarse-voiced man,
who sat smoking in a lounge-chair near the mizzen-mast.
‘The chief’ll settle that,’ answered Tom. ‘There’s the whole of the
ship for a dinner-table.’
We walked to the galley. The destruction of the barricades had vastly
improved the look of the vessel. The decks ran in a clear sweep.
Some of the men had scrubbed at the stain where the quarter-deck
sentry fell, but the dye was still red in the plank. The mass of the
convicts aimlessly hung about in groups. Numbers overhung the rail,
staring out to sea and talking. Others crouched in clusters under the
bulwarks; some had half stripped themselves. Many were on the
poop, where I caught sight of Mr. Bates walking with Will.
I called Tom’s attention to the general air of listlessness. He
answered: ‘It’s partly heat, partly reaction. They’ve woke up to the
sense of what’s happened, and the loneliness of the sea is upon
them, though they couldn’t give you a name for their sensations.’
This brought us to the ship’s galley. The convicts had partly
demolished their own kitchen, yet, of the two, it had been more
serviceably furnished for so great a crowd as the ship contained.
The sun was now hanging low over the western ocean. I never
before beheld it so vast and so red. Its wake came straight to the
side of the ship from the edge of the sea. I saw no cloud, yet a soft,
gentle wind blew; all the water was dark with it, and it tenderly
swelled the ship’s canvas. All plain sail was set, saving the main-
royal, where the lightning had left no mast to hoist the yard on.
These observations I made quickly whilst Tom put his head into the
galley-door and talked to the people within.
The men who had cooked for the convicts under the doctor were the
cooks now. There were three of them, dressed in clothes stolen out
of the forecastle. Spite of their cropped crowns and a sort of actor’s
bullet-headed appearance, that might owe something to their blue,
shorn cheeks and chins, they looked, in their seamen’s attire,
superior to most of the fellows who had slept before the mast. Tom
questioned them. A large hook-pot of steaming tea was then handed
to him. He gave it to me with a glance which I perfectly understood.
They cut off a piece of beef and put it into a tin dish. With these
things and two or three ship’s biscuits, which one of the convicts
took from a dresser-drawer two-thirds full of that sort of bread, we
made our way aft, I carrying the tea and the beef and walking after
Tom, as though he used me as his servant.
One of a number of convicts at the break of the poop was Barney
Abram. He called down to know what was that I had. Tom answered
that it was his supper. ‘I can’t wait for you people,’ said he. ‘The
mate must be relieved in a few minutes.’ We then passed into his
cabin.
We wanted sugar; a ridiculous, trifling matter I should not mention
but for this, that, with Tom’s leave, I went aft into that small
starboard cabin which Mr. Stiles had made a larder of, and which
before the convicts rose had always been richly stocked, hams and
sides of bacon hanging from the upper deck, fine flour and white
biscuits in casks, various sorts of tinned stuffs, with all such
necessaries, not to mention luxuries, which the cabin table
demanded—I say, when I entered this little room to seek for a parcel
of sugar, I witnessed a crueller, more abominable scene of waste
than could be invented: Flour-casks split and the deck covered with
dust; broken bottles of pickles; ham and cheese, as though they had
been jumped upon. Indeed, I want memory to describe this horrid
picture of wanton, senseless waste and destruction. Yet I found
what I sought, and took also some cheese, what I broke from one
that lay already broken upon the deck, filled a tin with white biscuit
out of a gaping cask, and so returned to Tom.
We made a good meal. Neither of us had tasted food for many
hours. I asked Tom after he should have gone on deck to send Will
to me, as the lad, being afraid to seek for food on his own account,
might be half famished for all I knew. Mr. Bates I reckoned old
enough and man enough to look after himself. I then saw that there
was oil in the bracket-lamp at the bulkhead. Indeed, the seeing to
such things had been a part of my work under the steward. When
Tom had ended his meal, he got up and said: ‘I shall turn the key
upon you and give it to Will, who’ll let himself in; but see that he
locks you up when he leaves you.’
‘Shan’t I see you again to-night, Tom?’
‘Oh, yes. I’ll look in—say at nine. You can reckon your time by one of
the chronometers. ’Tis Greenwich time, and our time will be about
——,’ and he named it.
He kissed me, and held me by the hands and looked at me as
though his overflowing heart sought in vain to vent itself; then
cutting the air with his clenched fist as if maddened by a sudden
memory, he stepped out, turned and withdrew the key.
I waited for Will, but he did not quickly come. By this time it was
nearly dark; some while earlier, however, I had thoroughly searched
the cabin for means of making fire, and almost at the minute of
giving up found a tinder-box and flint and matches in a little white
box on a shelf. This apparatus was so like mine that I might have
supposed Mr. Balls had presented it to the captain.
I lighted the lamp and sat listening to the noises in the cuddy. There
was a constant tumult of voices and a clatter of metal dishes; I
guessed that a crowd of the convicts were eating at the table, and,
not easily finding fresh crockery, were employing the prison utensils.
More than an hour had passed since Tom left, when the key was
turned, and Will entered holding a pannikin of tea. When the door
opened, the noise in the cuddy came in very strong and rudely; the
wretches seemed to have gone off their heads again, and were
bawling and singing as though something stronger than tea had
filled their pannikins. They had managed to trim and light the cuddy
lamps.
‘It’s time we were out of it,’ said Will, pulling off his coat and flinging
down his cap with a shake of the head that drove the sweat drops in
a little shower from his brow. ‘I’d rather take my chance on a bare
plank than stick another week in this hell—and a hell it is, and a
worse hell it is likely to become, though I hate strong words.’
‘Fall to your supper,’ said I, ‘and give me the news as you eat.’
He went to work and ate heartily. We had left plenty for him. Whilst
he supped, he said that Abram had made Bates show him where the
rum casks were kept. Bates told Tom of this, and Will, standing near,
heard Tom ask Abram what the people intended to do. ‘“Why,” says
the prize-fighter, “they’re going to brew a few bowls to drink one
another’s health in. They mean to make a night of it. Don’t they
deserve a little pleasure? You’ll take the head of the table, Butler,
and give us a song.” “No,” says Tom, “I’m in charge of the ship——”
“There’s Bates,” says Abram. “I’m in charge of the ship,” answered
Tom savagely. “Don’t look to me to countenance this sort of thing. I
should have hoped you and the other leaders valued your safety too
highly to broach a rum-cask for the people.” A number of convicts,’
said Will, ‘who had drawn near, told Tom that if he interfered with
their pleasures and liberty, they knew their remedy. Tom cursed
them, and I thought would have spat at them,’ continued Will. ‘He
grasped one of the strongest by the arm and, pointing to the boats,
asked the man if he could count. The fellow fell back a step as
though Butler had gone mad, and raised his arm to cover his face.
“Count!” roared Tom. “One, two, three; good to hold about thirty
men, leaving about two hundred and twenty to be roasted alive if
the ship takes fire! Thirty to be picked up and hanged for this job!”
he cried, with a laugh that had a real note of madness in it: “and the
rest to be left here to fry or leap overboard, shrieking like the rats
that’ll show them the road!” His manner, instead of further enraging,
seemed to subdue the beasts. “There’ll be no fire,” said Abram; “why
do’t you keep your tepper?”’
‘What followed?’ said I.
‘Butler walked away. Some of the convicts abused him when his back
was turned. Barney Abram stood up for him. He said that Butler
meant well, and that his anxiety for the ship’s safety proved his
honesty. He was bad-tempered and a little mad; he was mad
because he was being transported for what he had never done.
Then, fearing I might be noticed as a listener, I slunk away, and
Butler gave me the key, and told me to go to you and get some
supper.’
He stayed until he had had time to make a good meal. We talked in
murmurs, and nearly all our talk concerned our getting away from
the ship. He told me that Bates thought that Tom would have
ventured it this night had the gig been provisioned. Bates, he said,
was wild to get out of the ship. He feared for his life.
Will went on deck after sitting with me for half an hour. He locked
me in as he had been bidden, and when he was gone I felt afraid,
for I thought to myself: What shall I do, locked up below here, if the
felons set the ship on fire?
 CHAPTER XXXVII
SHE DESCRIBES A WILD, DRUNKEN,
UPROARIOUS SCENE

The noise of many voices had been slowly growing in the cuddy. The
swell and the volume of sound were assurance that the interior was
full. I wondered the people did not drink and revel on the deck,
where there was plenty of room and fresh air and dewy coolness.
The cuddy, perhaps, was like being ashore, and put them in mind of
their old haunts. There was no likeness, indeed, to a tavern in it, yet
the convicts might find something to refresh their memory of the
boozing-kens in the broken mirrors and the low pitch of the ceiling
or upper deck and in the bulkheads, which would answer to their
idea of walls, particularly should the atmosphere become dense with
tobacco smoke and sickening with the fumes of rum and clamorous
as a houseful of shrieking madmen with the songs, jokes, laughter,
and the many humours of the stews and kennels.
The Childe Harold was a very stoutly built ship. The cabin bulkheads
were exceedingly thick and substantial. I could not hear individual
voices plainly; the combined growl of the men’s speech, often rising
into a sort of roar like to the noise of a breaker sweeping back from
a beach after it has burst into froth, overwhelmed the particular
notes and accents which swelled it. Sometimes I thought I could
hear Barney Abram shouting, then there’d happen a sinking in the
tumult when I’d catch a loud, coarse laugh, solitary and startling, or
the voice of a man beginning a song that was quickly drowned by
the freshening of the hubbub.
There was a constant scraping and squeezing past my cabin
bulkhead, as though of people coming and going or thrusting to
make room, with a jarring grumble of talk but indistinct to me. This
sort of thing may have gone on for about half an hour. I looked at
the chronometer, and calculated that it was about half-past eight. I
longed for nine o’clock, when Tom had promised to come. The
people were fast growing noisier. Frequent scuffles occurred just
outside my door. The cuddy was densely packed, and the scuffling
signified the struggle of some of the fellows to draw close to the
table where the drink was.
It was short of nine by a quarter of an hour when the key was
turned and Tom came in. This cabin-door was close to the cuddy
quarter-deck entrance; yet the interior was so full that when Tom
entered and came in with a sort of run, as though he had helped
himself with his elbows, I saw the crowd, close-packed, pressed
hard against Bates’s cabin opposite, as they were against mine.
‘Hold my arm,’ said Tom. I seized him, and he took me through the
door and shoved to right and left to make a passage through, the
cuddy entrance, that stood but five or six feet away. He then
returned to lock the door.
I was now able to see and hear. The cuddy, as I had suspected, was
packed full. The sailors had joined the convicts, so that there were
over two hundred and forty people in that roasting interior. The
atmosphere was dark with tobacco smoke, through which the large
cabin-lamps loomed like the red moon in a mist. I coughed violently
even on the quarter-deck whilst I looked through the open door,
waiting for Tom to come out. By standing on the coamings of the
booby-hatch, I got a view over the heads of the crowd and saw the
whole picture.
Abram sat at the head of the table in shirt and trousers only; his
black, pitted, ugly face shone with sweat; they had put one chair on
top of another for him, and he sat with his legs wide apart and his
feet on the table; between his knees was a pail, out of which he was
ladling drink into pannikins which endlessly travelled his way, or
were extended at arm’s length to him. He seemed half drunk, and
occasionally withdrew the ladle full of the liquor to flourish it over his
head, whilst he uttered a roar like a beast expressing joy and having
no note but a roar; at such times he swayed on his perch as though
he must topple over.
As yet not many of the felons were intoxicated, but anyone could
see how it must be with them presently. The younger amongst the
people made the most noise. Again there was the aimless shouting
of the morning, the roaring chaff, the yells one to another from
distant points, the frequent breaking into songs, with local choruses,
swaggeringly chanted by those near the singer. The heat was
frightful; I was amazed that the wretches could draw breath. At this
foremost end of the table, high-perched like the ruffian Abram, was
the hare-lipped convict; he, too, had a big pail of liquor betwixt his
legs, the contents of which he served out with a pannikin. Nearly
every man had a pipe, and again and again one or another of the
convicts rose to get a light at the lamps. They stood on their chairs
with a foot on the table and dodged drunkenly at the flame, with an
open end of rope-yarn or a piece of wood, and whilst it burnt freely
they lighted their pipes, blowing out dense clouds, and then they’d
pass the burning brands to men shouting for them.
This was shocking to see. Nothing in the behaviour of the
malefactors was so fearfully menacing. All that I here describe I
witnessed in the few moments whilst I waited for Tom to lock the
door. He forced his way out, took me by the arm, and in silence we
mounted the poop-ladder. Oh, the sweetness of the air up there and
the peace and beauty of that gentle tropic night! The moon was up,
the dark sky was crowded with stars to the horizon, the ship was
sailing noiselessly before the wind. Aloft, where the sails swelled
stirless as carvings of stone, glowing in the beams of the moon that
shone athwart them, all was silent. Forward, not a figure stirred. Aft,
Mr. Bates walked on one side of the deck, and by the clear, white
light in the air I distinguished Will at the wheel. Tom spoke no word
till we were on the poop. He then said: ‘I believe we shall be able to
get away to-night.’
‘The sooner the better, Tom.’
‘If they don’t set fire to the ship,’ said he, ‘we may be able to get
away easily, and in a quarter-boat. I chose the gig because she
hangs where she may be lowered without much risk of observation;
but the people down there mean to drink themselves dead-drunk. If
that happens, we’ll take a quarter-boat.’
‘Is that Will at the wheel?’
‘Aye. The dog whose trick was up refused to stand any longer when
he understood there was grog going in the cabin. No other man
would come aft to relieve him. So much the better. It all works for
us.’
We joined Mr. Bates and went to the helm and stood there. They
were now making a horrible roaring noise in the cuddy. It sounded
like a great, drunken cheering of a ‘sentiment,’ or speech.
‘I’ve been watching them light their pipes,’ said Mr. Bates. ‘We must
stand by, Butler.’
‘Bates, it’s to be done!’ exclaimed Tom, looking round the sea. ‘What
shall we want? Nothing that may not be got and stowed in twenty
minutes. Johnstone, jump forward and try one of the scuttle-butts. If
there’s water, fill a couple of boat’s beakers.’
He took the wheel from the lad, who fled off the poop like the
shadow of a cloud in a gale.
‘Which is the better quarter-boat. Bates?’
‘The aftermost.’
‘See if it’s all right with her.’
The mate sprang upon a hencoop and got into the boat, where his
figure was lost. He came out after a few minutes and reported
everything in its place. Will returned; he said that the starboard
scuttle-butt was half full, took the beaker out of the boat and went
forward. When this was filled he took the beaker from the other
boat, filled and stowed it in the boat we meant to use.
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