Related papers: Dynamics of Connected Rigid Bodies in a Perfect Fl…
We consider the motion of several rigid bodies immersed in a two-dimensional incompressible perfect fluid. The motion of the rigid bodies is given by the Newton laws with forces due to the fluid pressure and the fluid motion is described by…
We derive the equations of motion for a planar rigid body of circular shape moving in a 2D perfect fluid with point vortices using symplectic reduction by stages. After formulating the theory as a mechanical system on a configuration space…
We address the problem of controlling a dynamical system governing the motion of a 3D weighted shape changing body swimming in a perfect fluid. The rigid displacement of the swimmer results from the exchange of momentum between prescribed…
Aquatic locomotion is a classic fluid-structure interaction (FSI) problem of interest to biologists and engineers. Solving the fully coupled FSI equations for incompressible Navier-Stokes and finite elasticity is computationally expensive.…
We employ three numerical methods to explore the motion of low Reynolds number swimmers, modeling the hydrodynamic interactions by means of the Oseen tensor approximation, lattice Boltzmann simulations and multiparticle collision dynamics.…
We present a new class of high-order variational integrators on Lie groups. We show that these integrators are symplectic, momentum preserving, and can be constructed to be of arbitrarily high-order, or can be made to converge…
The basic notion for a motion of a heavy rigid body fixed at a point in three-dimensional space as well as its higher-dimensional generalizations are presented. On a basis of Lax representation, the algebro-geometric integration procedure…
We consider the motion of a rigid body immersed in an incompressible perfect fluid which occupies a three-dimensional bounded domain. For such a system the Cauchy problem is well-posed locally in time if the initial velocity of the fluid is…
In this paper, we consider the interactions between a rigid body of general form and the incompressible perfect fluid surrounding it. Local well-posedness in the space $C([0, T); H_s)$ is obtained for the fluid-rigid body system.
This paper presents a gait optimization and motion planning framework for a class of locomoting systems with mixed kinematic and dynamic properties. Using Lagrangian reduction and differential geometry, we derive a general dynamic model…
The paper studies the system of a rigid body interacting dynamically with point vortices in a perfect fluid. For arbitrary value of vortex strengths and circulation around the cylinder the system is shown to be Hamiltonian (the…
The problem of 3-dimensional, convex rigid-body collision over a plane is fully investigated; this includes bodies with sharp corners that is resolved without the need for nonsmooth convex analysis of tangent and normal cones. In…
This is an expository presentation of a completely integrable Hamiltonian system of Clebsch top under a special condition introduced by Weber. After a brief account on the geometric setting of the system, the structure of the Poisson…
We introduce a novel approach to simulate the interaction between fluids and thin elastic solids without any penetration. Our approach is centered around an optimization system augmented with barriers, which aims to find a configuration…
We present a numerical method specifically designed for simulating three-dimensional fluid--structure interaction (FSI) problems based on the reference map technique (RMT). The RMT is a fully Eulerian FSI numerical method that allows fluids…
The direct-forcing immersed boundary method (DF-IBM) algorithm previously developed by the authors is extended by coupling the Navier-Stokes equations with the Newton-Euler equations for rigid body dynamics within the DF-IBM framework. This…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
In this work we study the dynamic behaviour of compound shells of revolution partially filled with an ideal incompressible fluid based on boundary-value problems. New analytical mathematical model with corresponding discrete scheme for the…
An articulated body is defined as a finite number of rigid bodies connected by a set of arbitrary constraints that limit the relative motion between pairs of bodies. Such a general definition encompasses a wide variety of situations in the…
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as…