Related papers: Dynamic balancing of planar mechanisms using toric…
An algebraic procedure of getting of canonical variables in a rigid body dynamics is presented. The method is based on using a structure of an algebra of Lie-Poisson brackets with which a Hamiltonian dynamics is set. In a particular case of…
In this work, we investigate a Lagrangian model describing a particle constrained to move along non-degenerate conic sections, parameterized by the orbital eccentricity \( e \). In the non-relativistic regime, we apply the Dirac--Bergmann…
While many dynamical systems of mechanical origin, in particular billiards, are strongly chaotic -- enjoy exponential mixing, the rates of mixing in many other models are slow (algebraic, or polynomial). The dynamics in the latter are…
To every partial order P, one associates a polynomial $\mathbb{D}_P$ in 4 variables that enumerates the intervals of P according to 4 parameters. Some symmetry properties of this polynomial are obtained for a specific family of posets, the…
In this paper we investigate factorizations of polynomials over the ring of dual quaternions into linear factors. While earlier results assume that the norm polynomial is real ("motion polynomials"), we only require the absence of real…
The dynamics of the driven tight binding model for Wannier-Stark systems is formulated and solved using a dynamical algebra. This Lie algebraic approach is very convenient for evaluating matrix elements and expectation values. It is also…
We study the structure of a simple dynamic optimization problem consisting of one state and one control variable, from a physicist's point of view. By using an analogy to a physical model, we study this system in the classical and quantum…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
This paper presents a kinodynamic motion planner that is able to produce energy efficient motions by taking the full robot dynamics into account, and making use of gravity, inertia, and momentum to reduce the effort. Given a specific goal…
This paper proposes a unified approach for dynamic modeling and simulations of general tensegrity structures with rigid bars and rigid bodies of arbitrary shapes. The natural coordinates are adopted as a non-minimal description in terms of…
We introduce some polynomial and analytic methods in the classification program for the complexity of planar graph homomorphisms. These methods allow us to handle infinitely many lattice conditions and isolate the new P-time tractable…
Constraints imposed directly on accelerations of the system leading to the relation of constants of motion with appropriate local projectors occurring in the derived equations are considered. In this way a generalization of the Noether's…
We propose a forward-backward splitting dynamical system for solving inclusion problems of the form $0\in A(x)+B(x)$ in Hilbert spaces, where $A$ is a maximal operator and $B$ is a single-valued operator. Involved operators are assumed to…
When modeling complex robot systems such as branched robots, whose kinematic structures are a tree, current techniques often require modeling the whole structure from scratch, even when partial models for the branches are available. This…
Design optimization of mechanisms is a promising research area as it results in more energy-efficient machines without compromising performance. However, machine builders do not actually use the design methods described in the literature as…
We study families of polynomial dynamical systems inspired by biochemical reaction networks. We focus on complex balanced mass-action systems, which have also been called toric. They are known or conjectured to enjoy very strong dynamical…
In this paper, the author presents a new tool, called The Convergence Plane, that allows to study the real dynamics of iterative methods whose iterations depends on one parameter in an easy and compact way. This tool can be used, inter…
In engineering practice one often encounters planar problems, where the corresponding vector space of forces, velocities or (infinitesimal) displacements is three dimensional. This paper shows how these spaces can be factorized, such that…
The control problem of the working tool movement along a predefined trajectory is considered. The integral of kinetic energy and weighted inertia forces for the whole period of motion is considered as a cost functional. The trajectory is…
Mathematical modelling is a cornerstone of computational biology. While mechanistic models might describe the interactions of interest of a system, they are often difficult to study. On the other hand, abstract models might capture key…