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We consider a hierarchy of classical Liouville completely integrable models sharing the same (linear) $r$--matrix structure obtained through an $N$--th jet--extension of $\mathfrak{su}(2)$ rational Gaudin models. The main goal of the…
Cartesian-grid methods in combination with immersed-body and volume-of-fluid methods are ideally suited for simulating breaking waves around ships. A surface panelization of the ship hull is used as input to impose body-boundary conditions…
In this article we describe a stable partitioned algorithm that overcomes the added mass instability arising in fluid-structure interactions of light rigid bodies and inviscid compressible flow. The new algorithm is stable even for bodies…
In this work a numerical model for two-dimensional axisymmetric continuous freezing by impingement of processed meat or similar products in food industry moving along a conveyor belt is presented. The model represents a more computationally…
The paper develops a method for the numerical simulation of a free-surface flow of incompressible viscous fluid around a streamlined body. The body is a rigid stationary construction partially submerged in the fluid. The application we are…
We consider self-propelled rigid-bodies interacting through local body-attitude alignment modelled by stochastic differential equations. We derive a hydrodynamic model of this system at large spatio-temporal scales and particle numbers in…
A simple nonholonomic dynamics model is developed as a low-order model for generating undulatory swim-like motions, validated through computational fluid dynamics (CFD) simulations. The rigid-body-dynamics model generates swimming motion by…
We investigate the superintegrability of rigid body rotors coupled to planar systems. In particular, we study the isotropic harmonic oscillator in two dimensions, with its (central) force acting on the rotor's center of mass constrained to…
This paper presents a general and robust method for the fluid-structure interaction of membranes and shells undergoing large displacement and large added-mass effects by coupling an immersed-boundary method with a shell finite-element…
This paper deals with a new solid-fluid coupling algorithm between a rigid body and an unsteady compressible fluid flow, using an Embedded Boundary method. The coupling with a rigid body is a first step towards the coupling with a Discrete…
In this paper, we study a dynamic fluid-structure interaction (FSI) model for an elastic structure that is immersed and spinning in the fluid. We develop a linear constitutive model to describe the motion of a rotational elastic structure…
We introduce a symplectic dual quaternion variational integrator(DQVI) for simulating single rigid body motion in all six degrees of freedom. Dual quaternion is used to represent rigid body kinematics and one-step Lie group variational…
A novel approach is presented for computing flexible body dynamics based on conventional structural dynamics models. This approach innovatively captures the rigid body motion component embedded within a flexible body's movement, generates…
We studied numerically the dynamics of colliding rigid bodies in a Newtonian fluid. The finite element method is used to solve the fluid-body interaction and the fluid motion is described in the Arbitrary-Lagrangian-Eulerian framework. To…
The system is described by three mass-shell constraints. After a nonlinear transformation of the momenta, the analytic form taken by admissible interactions (allowing compatibility) is characterized in terms of the new variables. These…
Matching the swimming efficiency and agility of fish has remained an elusive goal in underwater robotics. Such locomotion capabilities rely on complex vortex interactions between the robot's body and the surrounding fluid. However,…
In the last two decades, significant effort has been put in understanding and designing so-called structure-preserving numerical methods for the simulation of mechanical systems. Geometric integrators attempt to preserve the geometry…
Combining geometric mechanics theory, laboratory robotic experiment and numerical simulation, we study the locomotion in granular media (GM) of the simplest non-inertial swimmer, the Purcell three-link swimmer. Using granular resistive…
We simulate the self-propulsion of devices in a fluid in the regime of low Reynolds numbers. Each device consists of three bodies (spheres or capsules) connected with two damped harmonic springs. Sinusoidal driving forces compress the…
We aim at the stability of time-dependent motions, such as time-periodic ones, of a rigid body in a viscous fluid filling the exterior to it in 3D. The fluid motion obeys the incompressible Navier-Stokes system, whereas the motion of the…