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We study dynamics of a ball moving in gravitational field and colliding with a moving table. The motion of the limiter is assumed as periodic with piecewise constant velocity - it is assumed that the table moves up with a constant velocity…
We present a differentiable dynamics solver that is able to handle frictional contact for rigid and deformable objects within a unified framework. Through a principled mollification of normal and tangential contact forces, our method…
Classical dynamical equations describing a certain version of the nonHamiltonian interaction of two rotators (Euler tops with completely degenerate inertia tensors) are considered. The simplest case is integrated. It is shown that the…
In relativistic dynamics, force and acceleration are no longer parallel. In this article, we revisit the relativistic motion of a particle under the action of a constant force, $\boldsymbol{f}$. \ For a two-dimensional motion, the final…
Constraints imposed directly on accelerations of the system leading to the relation of constants of motion with appropriate local projectors occurring in the derived equations are considered. In this way a generalization of the Noether's…
The simulation of systems that act on multiple time scales is challenging. A stable integration of the fast dynamics requires a highly accurate approximation whereas for the simulation of the slow part, a coarser approximation is accurate…
This paper presents a combined strategy for tracking a non-holonomic mobile robot which works under certain operating conditions for system parameters and disturbances. The strategy includes kinematic steering and velocity dynamics learning…
The horizontal dynamics of a bouncing ball interacting with an irregular surface is investigated and is found to demonstrate behavior analogous to a random walk. Its stochastic character is substantiated by the calculation of a permutation…
The dynamics of a (nonlinear) Berger plate in the absence of rotational inertia are considered with inhomogenous boundary conditions. In our analysis, we consider boundary damping in two scenarios: (i) free plate boundary conditions, or…
The Lorentz transformations are represented on the ball of relativistically admissible velocities by Einstein velocity addition and rotations. This representation is by projective maps. The relativistic dynamic equation can be derived by…
The exact equation of spin motion in a cylindrical coordinate system with allowance for electric dipole moments of particles has been derived. This equation is convenient for analytical calculations of spin dynamics in circular storage…
Compared to conventional robots, flexible manipulators offer many advantages, such as faster end-effector velocities and less energy consumption. However, their flexible structure can lead to undesired oscillations. Therefore, the applied…
A mathematical model featuring the motion of a multilink wheeled vehicle is developed using a nonholonomic model. A detailed analysis of the inertial motion is made. Fixed points of the reduced system are identified, their stability is…
This paper is devoted to the study of nonautonomous multivalued semiflows and their associated pullback attractors. For this kind of dynamical systems we are able to characterize the upper and lower bounds of the attractor as complete…
This paper investigates the possibility of the motion control of a ball with a pendulum mechanism with non-holonomic constraints using gaits - the simplest motions such as acceleration and deceleration during the motion in a straight line,…
The problem of estimating the angular speed of a solid body from attitude measurements is addressed. To solve this problem, we propose an observer whose dynamics are not constrained to evolve on any specific manifold. This drastically…
We present a derivation of a formula that gives dynamics of an integrable cellular automaton associated with crystal bases. This automaton is related to type D affine Lie algebra and contains usual box-ball systems as a special case. The…
Both orbital and rotational dynamics employ the method of variation of parameters. We express, in a non-perturbed setting, the coordinates (Cartesian, in the orbital case, or Eulerian in the rotation case) via the time and six adjustable…
We present a simple model of a vibrated box of sand, and discuss its dynamics in terms of two parameters reflecting static and dynamic disorder respectively. The fluidised, intermediate and frozen (`glassy') dynamical regimes are…
We consider non-stationary free and forced transverse oscillation of an infinite taut string on the Winkler foundation subjected to a discrete mass-spring system non-uniformly moving at a given sub-critical speed. The speed of the…