Related papers: Dynamics of Connected Rigid Bodies in a Perfect Fl…
In this paper we present the study of the mathematical model of a real life joint used in an underwater robotic fish. Fluid-structure interaction is utterly simplified and the motion of the joint is approximated by D\"uffing's equation. We…
The motion of a rigid body immersed in an incompressible perfect fluid which occupies a three- dimensional bounded domain have been recently studied under its PDE formulation. In particular classical solutions have been shown to exist…
Foliate systems are those which preserve some (possibly singular) foliation of phase space, such as systems with integrals, systems with continuous symmetries, and skew product systems. We study numerical integrators which also preserve the…
We introduce and study a new class of kinetic equations, which arise in the description of nonequilibrium macroscopic dynamics of soliton gases with elastic collisions between solitons. These equations represent nonlinear…
We study asymptotic dynamics of a coupled system consisting of linearized 3D Navier--Stokes equations in a bounded domain and the classical (nonlinear) elastic plate equation for in-plane motions on a flexible flat part of the boundary. The…
We show that a two-dimensional system of flocking microswimmers interacting hydrodynamically can be expressed using a Hamiltonian formalism. The Hamiltonian depends strictly on the angles between the particles and their swimming…
We present explicitly Poisson structures, for both time-dependent and time-independent Hamiltonians, of a dynamical system with three degrees of freedom introduced and studied by Calogero et al [2005]. For the time-independent case, new…
In this paper we propose a new diffuse interface model for the numerical simulation of inviscid compressible flows around fixed and moving solid bodies of arbitrary shape. The solids are assumed to be moving rigid bodies, without any…
This study employs resolvent analysis to explore the dynamics and coherent structures in the boundary layer of a foil that swims via a travelling wave undulation. A modified NACA foil shape is used together with undulatory kinematics to…
Achieving stable hopping has been a hallmark challenge in the field of dynamic legged locomotion. Controlled hopping is notably difficult due to extended periods of underactuation combined with very short ground phases wherein ground…
We introduce classical many-body dynamics on a one-dimensional lattice comprising local two-body maps arranged on discrete space-time mesh that serve as discretizations of Hamiltonian dynamics with arbitrarily time-varying coupling…
This work outlines a new multi-physics-compatible immersed rigid body method for Eulerian finite-volume simulations. To achieve this, rigid bodies are represented as a diffuse scalar field and an interface seeding method is employed to…
In this paper we introduce a numerical scheme for fluid-structure interaction problems in two or three space dimensions: A flexible elastic plate is interacting with a viscous, compressible barotropic fluid. Hence the physical domain of…
In this paper we consider cases of existence of invariant measure, additional first integrals, and Poisson structure in a problem of rigid body's rolling without sliding on plane and sphere. The problem of rigid body's motion on plane was…
The dynamics of a molecule immersed in a superfluid medium are considered. Results are derived using a classical hydrodynamic approach followed by canonical quantization. The classical model, a rigid body immersed in incompressible fluid,…
Strapdown inertial navigation research involves the parameterization and computation of the attitude, velocity and position of a rigid body in a chosen reference frame. The community has long devoted to finding the most concise and…
Accurately modeling contact behaviors for real-world, near-rigid materials remains a grand challenge for existing rigid-body physics simulators. This paper introduces a data-augmented contact model that incorporates analytical solutions…
We present a principled method for motion prediction via dynamic simulation for rigid bodies in intermittent contact with each other where the contact is assumed to be a planar non-convex contact patch. The planar non-convex contact patch…
Complete Hamiltonian formalism is suggested for inertial waves in rotating incompressible fluid. Resonance three-wave interaction processes -- decay instability and confluence of two waves -- are shown to play a key role in the weakly…
Rigid-bodied robots often lack compliance needed to adapt to unstructured environments, while fully soft robots, though highly adaptable, struggle with scalability and load capacity. In nature, musculoskeletal systems balance strength and…