Related papers: Constructing equivalence-preserving Dirac variatio…
One approach to analyzing the dynamics of a physical system is to search for long-lived patterns in its motions. This approach has been particularly successful for molecular dynamics data, where slowly decorrelating patterns can indicate…
Numerical methods that preserve geometric invariants of the system, such as energy, momentum or the symplectic form, are called geometric integrators. In this paper we present a method to construct symplectic-momentum integrators for…
This work proposes a suite of numerical techniques to facilitate the design of structure-preserving integrators for nonlinear dynamics. The celebrated LaBudde-Greenspan integrator and various energy-momentum schemes adopt a difference…
In this paper we make an overview of results relating the recent "discoveries" in differential geometry, such as higher structures and differential graded manifolds with some natural problems coming from mechanics. We explain that a lot of…
As shown in earlier work, skew-adjoint linear differential operators, mapping efforts into flows, give rise to Dirac structures on a bounded spatial domain by a proper definition of boundary variables. In the present paper this is extended…
A variational formulation for non-equilibrium thermodynamics was developed by Gay-Balmaz and Yoshimura. In a recent article, the first two authors of the present paper introduced partially cosymplectic structures as a geometric framework…
An asynchronous, variational method for simulating elastica in complex contact and impact scenarios is developed. Asynchronous Variational Integrators (AVIs) are extended to handle contact forces by associating different time steps to…
We develop a method of constructing structure-preserving integrators for Hamiltonian systems in Jacobi manifolds. Hamiltonian mechanics, rooted in symplectic and Poisson geometry, has long provided a foundation for modeling conservative…
Adjoint systems are widely used to inform control, optimization, and design in systems described by ordinary differential equations or differential-algebraic equations. In this paper, we explore the geometric properties and develop methods…
Robust dynamic interactions are required to move robots in daily environments alongside humans. Optimisation and learning methods have been used to mimic and reproduce human movements. However, they are often not robust and their…
In this paper, we study the Lagrangian functions for a class of second-order differential systems arising from physics. For such systems, we present necessary and sufficient conditions for the existence of Lagrangian functions. Based on the…
A rank-adaptive integrator for the dynamical low-rank approximation of matrix and tensor differential equations is presented. The fixed-rank integrator recently proposed by two of the authors is extended to allow for an adaptive choice of…
The concept of a Dirac algebroid, which is a linear almost Dirac structure on a vector bundle, was designed to generate phase equations for mechanical systems with linear nonholonomic constraints. We apply it to systems with magnetic-like…
Coarse-grained models that preserve hydrodynamics provide a natural approach to study collective properties of soft-matter systems. Here, we demonstrate that commonly used integration schemes in dissipative particle dynamics give rise to…
We present a new class of exponential integrators for ordinary differential equations. They are locally exact, i.e., they preserve the linearization of the original system at every point. Their construction consists in modifying existing…
In this paper we investigate a variational discretization for the class of mechanical systems in presence of symmetries described by the action of a Lie group which reduces the phase space to a (non-trivial) principal bundle. By introducing…
In this paper, we explore dynamics of the nonholonomic system called vakonomic mechanics in the context of Lagrange-Dirac dynamical systems using a Dirac structure and its associated Hamilton-Pontryagin variational principle. We first show…
A new geometric approach to systems with boundary energy flow is developed using infinite-dimensional Dirac structures within the Lagrangian formalism. This framework satisfies a list of consistency criteria with the geometric setting of…
This paper extends the Gotay-Nester and the Dirac theories of constrained systems in order to deal with Dirac dynamical systems in the integrable case. Integrable Dirac dynamical systems are viewed as constrained systems where the…
This paper extends the Gotay-Nester and the Dirac theories of constrained systems in order to deal with Dirac dynamical systems in the integrable case. Integrable Dirac dynamical systems are viewed as constrained systems where the…