Related papers: Dynamic Modeling and Simulation of a Rotational In…
The Euler-Lagrange equations (EL) are very important in the theoretical description of several physical systems. In this work we have used a simplified form of EL to study one-dimensional motions under the action of a constant force. From…
We use a modification of the parameterization method to study invariant manifolds for difference equations. We establish existence, regularity, smooth dependence on parameters and study several singular limits, even if the difference…
Constrained mechanical multibody systems arise in many important applications like robotics, vehicle and machinery dynamics and biomechanics of locomotion of humans. These systems are described by the Euler-Lagrange equations which are…
In this article, we propose a method for calculation of the inverse and direct dynamic models of the Orthoglide, a parallel robot with threedegrees of freedom in translation. These models are calculated starting from the elements of the…
In applied sciences, we often deal with deterministic simulation models that are too slow for simulation-intensive tasks such as calibration or real-time control. In this paper, an emulator for a generic dynamic model, given by a system of…
Propellant sloshing is a well-known, but not completely mastered phenomenon in space vehicles. It is particularly critical in both microgravity environments - such as interplanetary spacecraft requiring high pointing stability - and high-g…
The inverted pendulum is a non-linear unbalanced system that needs to be controlled using motors to achieve stability and equilibrium. The inverted pendulum is constructed with Lego and using the Lego Mindstorm NXT, which is a programmable…
Obtaining dynamics models is essential for robotics to achieve accurate model-based controllers and simulators for planning. The dynamics models are typically obtained using model specification of the manufacturer or simple numerical…
Inverse design of slender elastic structures underlies a wide range of applications in computer graphics, flexible electronics, biomedical devices, and soft robotics. Traditional optimization-based approaches, however, are often orders of…
A new method is proposed to numerically integrate a dynamical system on a manifold such that the trajectory stably remains on the manifold and preserves first integrals of the system. The idea is that given an initial point in the manifold…
We study dynamics of the inverted pendulum on the wheel on a soft surface and under a proportional-integral-derivative controller. The behaviour of such pendulum is modelled by a system with a differential inclusion. If the the system has a…
The steady state motion of a folded pendulum has been studied using frequencies of drive that are mainly below the natural (resonance) frequency of the instrument. Although the free-decay of this mechanical oscillator appears textbook…
We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of…
This study introduces lateral pendulum as an innovative balancer design for bicycle stabilization. This pendulum, operating in the bicycle's vertical plane, enables the bicycle to remain stationary. The paper develops a dynamic model for a…
We study the Euler-Lagrange equation of the dynamical Boulatov model which is a simplicial model for 3d Euclidean quantum gravity augmented by a Laplace-Beltrami operator. We provide all its solutions on the space of left and right…
Dynamic state estimation, as opposed to kinematic state estimation, seeks to estimate not only the orientation of a rigid body but also its angular velocity, through Euler's equations of rotational motion. This paper demonstrates that the…
Perfect tracking control for real-world Euler-Lagrange systems is challenging due to uncertainties in the system model and external disturbances. The magnitude of the tracking error can be reduced either by increasing the feedback gains or…
This paper proposes a hydraulic model based on the Euler turbine equations suitable for the purpose of grid integration studies of variable speed hydropower (VSHP). The work was motivated by the need to assess how the dynamic performance…
This paper presents a general formulation of equations of motion of a pendulum with n point mass by use of two different methods. The first one is obtained by using Lagrange Mechanics and mathematical induction(inspection), and the second…
We develop a computational method based on an Eulerian field called the "reference map", which relates the current location of a material point to its initial. The reference map can be discretized to permit finite-difference simulation of…