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Optimal control problems are formulated and efficient computational procedures are proposed for combined orbital and rotational maneuvers of a rigid body in three dimensions. The rigid body is assumed to act under the influence of forces…
In this study we derive a single-particle equation of motion, from first-principles, starting out with a microscopic description of a tracer particle in a one-dimensional many-particle system with a general two-body interaction potential.…
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…
We consider a quantum two-particle system on a d-dimensional lattice with interaction and in presence of an IID external potential. We establish Wegner-typer estimates for such a model. The main tool used is Stollmann's lemma.
Recent research on mobile robots has focused on increasing their adaptability to unpredictable and unstructured environments using soft materials and structures. However, the determination of key design parameters and control over these…
The fundamental quantum dynamics of two interacting oscillator systems are studied in two different scenarios. In one case, both oscillators are assumed to be linear, whereas in the second case, one oscillator is linear and the other is a…
I discuss the influence of adding the air resistance and the kinetic friction to the classical mechanics homework-problem: finding the motion of a body sliding down a hemispherical hill. For a physically realistic ($\propto v^2$) form of…
Optimization-based robot control strategies often rely on first-order dynamics approximation methods, as in iLQR. Using second-order approximations of the dynamics is expensive due to the costly second-order partial derivatives of the…
Discrete mechanics is used to present fluid mechanics, fluid-structure interactions, electromagnetism and optical physics in a coherent theoretical and numerical approach. Acceleration considered as an absolute quantity is written as a sum…
The aim of the present text is twofold: to provide a compendium of Lagrangian and Hamiltonian geometries and to introduce and investigate new analytical Mechanics: Finslerian, Lagrangian and Hamiltonian. The fundamental equations (or…
This study introduces a novel approach for deriving the governing equations of the musculoskeletal system in the human body. The proposed formalism offers a framework to effectively incorporate the kinematic characteristics of biological…
The arguments by Pandres that the double valued spherical harmonics provide a basis for the irreducible spinor representation of the three dimensional rotation group are further developed and justified. The usual arguments against the…
Analysis of collisions is standardly included in the introductory physics course. In one dimension (1D), there do not seem to be any unusual issues: Typically, the initial velocities of the two colliding objects are specified, and the…
In this work, we utilize discrete geometric mechanics to derive a 2nd-order variational integrator so as to simulate rigid body dynamics. The developed integrator is to simulate the motion of a free rigid body and a quad-rotor. We…
Relativistic systems of particles interacting pairwise at a distance (interactions not mediated by fields) in flat spacetime are studied. It is assumed that the interactions propagate at the speed of light in vacuum and that all masses are…
This paper presents a solution based on dual quaternion algebra to the general problem of pose (i.e., position and orientation) consensus for systems composed of multiple rigid-bodies. The dual quaternion algebra is used to model the…
Non-perturbative aspects of the quantum many-body problem are revisited, discussed and advanced in the equation of motion framework. We compare the approach to the two-fermion response function truncated on the two-body level by the cluster…
This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…
We develop a complete relativistic theory to describe the dynamics of electronic angular momentum including both spin (S) and orbital (L) contributions in magnetic systems. We start with the relativistic Dirac-Kohn-Sham Hamiltonian under…
In this paper we revisit the construction by which the $SL(2,\mathbb{R})$ symmetry of the Euler equations allows to obtain the simple pendulum from the rigid body. We begin reviewing the original relation found by Holm and Marsden in which,…