Related papers: The Two Rigid Body Interaction using Angular Momen…
In this Thesis we develop the geometric formulations for higher-order autonomous and non-autonomous dynamical systems, and second-order field theories. In all cases, the physical information of the system is given in terms of a Lagrangian…
We use a recently developed action principle in spaces with curvature and torsion to derive the Euler equations of motion for a rigid body within the body-fixed coordinate system. This serves as an example that the particle trajectories in…
Our ability to numerically model and understand the complex flow behavior of solid-bearing suspensions has increased significantly over the last couple of years, partly due to direct numerical simulations that compute flow around individual…
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…
Textbook treatments of classical mechanics typically assume that the Lagrangian is nonsingular. That is, the matrix of second derivatives of the Lagrangian with respect to the velocities is invertible. This assumption insures that (i)…
We develop the equations of motion for full body models that describe the dynamics of rigid bodies, acting under their mutual gravity. The equations are derived using a variational approach where variations are defined on the Lie group of…
Dynamics in correlated quantum matter is a hard problem, as its exact solution generally involves a computational effort that grows exponentially with the number of constituents. While a remarkable progress has been witnessed in recent…
The use of vectorial parameterization to create geometrical representations in computational models has a large number of applications. One particular application is the calculation of the 3D rotational motion of rigid bodies, that could be…
Previous work in the literature has studied the Hamiltonian structure of an R-squared model of gravity with torsion in a closed Friedmann-Robertson-Walker universe. Within the framework of Dirac's theory, torsion is found to lead to a…
We derive a differential equation that is regular at the collision of two equal-mass bodies with attractive interaction in the relativistic action-at-a-distance electrodynamics. Our method uses the energy constant related to the…
A double pendulum subject to external torques is used as a model to study the stability of a planar manipulator with two links and two rotational driven joints. The hamiltonian equations of motion and the fixed points (stationary solutions)…
In contrast to the well-known solution of the two-body problem through the use of the concept of reduced mass, a solution is proposed involving separation of potentials. It is shown that each of the two point bodies moves in its own…
In this paper, is used the Lagrangian classical mechanics for modeling the dynamics of an underactuated system, specifically a rotary inverted pendulum that will have two equations of motion. A basic design of the system is proposed in…
In this paper we introduce a proposal for the kinematics of bodies in uniform circular motion. This model could contribute for the explanation of the two main problems of contemporary cosmology: dark matter and dark energy. We use one of…
The mathematical theory of rigidity of body-bar and body-hinge frameworks provides a useful tool for analyzing the rigidity and flexibility of many articulated structures appearing in engineering, robotics and biochemistry. In this paper we…
We present a novel framework for rigid body dynamics in ambient media, such as air or water, enabling accurate motion prediction of objects without requiring computational fluid dynamics simulations. Our method computes the added mass of…
We consider a mixed formulation of parametrized elasticity problems in terms of stress, displacement, and rotation. The latter two variables act as Lagrange multipliers to enforce conservation of linear and angular momentum. Due to the…
This paper introduces a simulation study of fluid actuated multi-driven closed system as spherical mobile robot called "RollRoller". Robot's mechanism design consists of two essential parts: tubes to lead a core and mechanical controlling…
The quantum dynamical evolution of atomic and molecular aggregates, from their compact to their fragmented states, is parametrized by a single collective radial parameter. Treating all the remaining particle coordinates in d dimensions…
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…