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In many applications free surface flow through rigid porous media has to be modeled. Examples refer to coastal engineering applications as well as geotechnical or biomedical applications. Albeit the frequent applications, slight…
The present paper attempts to show an alternative approach with regards to rational Pythagorean-hodograph (PH) curves and especially more natural approach for rational PH helices (i.e. rational helices). It exploits geometric features of…
High-fidelity models are essential for accurately capturing nonlinear system dynamics. However, simulation of these models is often computationally too expensive and, due to their complexity, they are not directly suitable for analysis,…
This paper aims to solve the equations of geometrically exact 3D nonlinear Cosserat static rods under large displacements with a mesh free alternative method to finite elements: the shooting method. One of the main goal of the work…
The oscillation periods bounded by a simple pendulum and an oscillating rigid rod are illustrated using a multiple pendulum. Oscillation periods between these two limits are obtained. A theoretical approach using the Lagrangian formalism…
Consistent motion estimation is fundamental for all mobile autonomous systems. While this sounds like an easy task, often, it is not the case because of changing environmental conditions affecting odometry obtained from vision, Lidar, or…
Dexterous manipulation requires careful reasoning over extrinsic contacts. The prevalence of deforming tools in human environments, the use of deformable sensors, and the increasing number of soft robots yields a need for approaches that…
The rovibrational kinetic energy for an arbitrary number of rigid molecules is computed. The result has the same general form as the kinetic energy in the molecular rovibrational Hamiltonian, although certain quantities are augmented to…
Hybrid dynamical systems have proven to be a powerful modeling abstraction, yet fundamental questions regarding the dynamical properties of these systems remain. In this paper, we develop a novel class of relaxations which we use to recover…
The linearization of the equations of motion of a robotics system about a given state-input trajectory, including a controlled equilibrium state, is a valuable tool for model-based planning, closed-loop control, gain tuning, and state…
We give a simple and self contained introduction to quaternions and their practical usage in dynamics. The rigid body dynamics are presented in full details. In the appendix, some more exotic relations are given that allow to write more…
We introduce a new presentation of the two dimensional rigid transformation which is more concise and efficient than the standard matrix presentation. By modifying the ordinary dual number construction for the complex numbers, we define the…
In this paper we characterize the congruence associated to the direct sum of all irreducible representations of a finite semigroup over an arbitrary field, generalizing results of Rhodes for the field of complex numbers. Applications are…
The Euler-Poisson equations para determinar the rotation matrix of a rigid body can be solved without using of particular parameterization like the Euler angles. For the free Lagrange top, we obtain and discuss a general analytic solution,…
In this article, a brief description of Discrete Mechanics and Variational Integrators which preserve the symplectic structure of the flow will be provided and a Newton-Raphson algorithm that can be used to solve implicit equations on the…
A Roche model for describing uniformly rotating rings is presented and the results are compared with numerical solutions to the full problem for polytropic rings. In the thin ring limit, the surfaces of constant pressure including the…
We seek to provide practicable approximations of the two-stage robust stochastic optimization (RSO) model when its ambiguity set is constructed with an f-divergence radius. These models are known to be numerically challenging to various…
In this work we apply the formalism developed in [M. Lepers \emph{et al}., Phys. Rev. A \textbf{77}, 043628 (2008)] to different initial conditions corresponding to systems usually met in real-life experiments, and calculate the observable…
We investigated an integral representation of a complex function which was obtained from the molecular beam magnetic resonance, and named it as `$g$- function' because it was connected with Gamma function as a special case. We introduced a…
I discuss the notions of traditional vector length, and suggest defining a complex vector length for complex vectors, as opposed to the traditional Hermitian real length. The advantages of this are shown in the development of rotations…