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We construct an explicit reversible symplectic integrator for the planar 3-body problem with zero angular momentum. We start with a Hamiltonian of the planar 3-body problem that is globally regularised and fully symmetry reduced. This…
We present an immersed boundary projection method formulated in a body-fixed frame of reference for flow-structure interaction (FSI) problems involving rigid bodies with complex geometries. The body-fixed formulation is aimed at maximizing…
Remarkably persistent mixing and non-mixing regions (islands) are observed to coexist in a three-dimensional dynamical system where randomness is expected. The track of an x-ray opaque particle in a spherical shell half-filled with dry…
Robotic fish is one of the most promising directions of the new generation of underwater vehicles. Traditional biomimetic fish often mimic fish joints using tandem components like servos, which leads to increased volume, weight and control…
We consider a system of multiple insulating rigid bodies moving inside of an electrically conducting compressible fluid. In this system we take into account the interaction of the fluid with the bodies as well as with the electromagnetic…
This paper addresses the floating body problem which consists in studying the interaction of surface water waves with a floating body. We propose a new formulation of the water waves problem that can easily be generalized in order to take…
We develop an immersed boundary (IB) method for modeling flows around fixed or moving rigid bodies that is suitable for a broad range of Reynolds numbers, including steady Stokes flow. The spatio-temporal discretization of the fluid…
We investigate multi-dimensional Hamiltonian systems associated with constant Poisson brackets of hydrodynamic type. A complete list of two- and three-component integrable Hamiltonians is obtained. All our examples possess dispersionless…
Dispersion of low-density rigid particles with complex geometries is ubiquitous in both natural and industrial environments. We show that while explicit methods for coupling the incompressible Navier-Stokes equations and Newton's equations…
This paper presents the full dynamics and control of arbitrary number of quadrotor unmanned aerial vehicles (UAV) transporting a rigid body. The rigid body is connected to the quadrotors via flexible cables where each flexible cable is…
The motion of a rigid body in a quadratic potential is an important example of an integrable Hamiltonian system on a dual to a semidirect product Lie algebra so(n) x Symm(n). We give a Lagrangian derivation of the corresponding equations of…
We consider a rigid body freely moving in a compressible inviscid fluid within a bounded domain $\Omega\subset\mathbb{R}^3$. The fluid is thereby governed by the non necessarily isentropic compressible Euler equations, while the rigid body…
It is shown that the kinematic system describing planar non-steady motions of ideal fibre-reinforced fluids may be reduced to a single two-dimensional third-order partial differential equation in which time enters parametrically. A…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
Recent advancements in soft actuators have enabled soft continuum swimming robots to achieve higher efficiency and more closely mimic the behaviors of real marine animals. However, optimizing the design and control of these soft continuum…
Starting from a contact Hamiltonian description of Li\'enard systems, we introduce a new family of explicit geometric integrators for these nonlinear dynamical systems. Focusing on the paradigmatic example of the van der Pol oscillator, we…
We present a computational framework for simulating filaments interacting with rigid bodies through contact. Filaments are challenging to simulate due to their codimensionality, i.e., they are one-dimensional structures embedded in…
The PID controller is an elegant and versatile controller for set point tracking in double integrator systems of which mechanical systems evolving on Euclidean space constitute a large class. But since mechanical systems are typically…
The biological fluids encountered by self-propelled cells display complex microstructures and rheology. We consider here the general problem of low-Reynolds number locomotion in a complex fluid. {Building on classical work on the transport…
Dynamic modeling has been capturing attention for its fundamentality in precise locomotion analyses and control of underwater robots. However, the existing researches have mainly focused on investigating two-dimensional motion of underwater…