Related papers: A Lagrangian Method for Constrained Dynamics in Te…
Receding horizon optimal control problems compute the solution at each time step to operate the system on a near-optimal path. However, in many practical cases, the boundary conditions, such as external inputs, constraint equations, or the…
We describe in detail how to eliminate nonphysical degrees of freedom in the Lagrangian and Hamiltonian formulations of a constrained system. Two important and distinct steps in our method are the fixing of ambiguities in the dynamics and…
We present a multi-scale modeling and simulation framework for low-Reynolds number hydrodynamics of shape-changing immersed objects, e.g., biological microswimmers and active surfaces. The key idea is to consider principal shape changes as…
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…
This paper presents tractable reformulations of topology optimization problems of structures subject to frictionless unilateral contact conditions. Specifically, we consider stiffness maximization problems of trusses and continua. Based on…
In this paper, considering a braided continuum soft-robot, whose radial deformation is constrained but elongation is assumed, a quasi-Lagrangian model is proposed that meets the Lagrangian models properties, including a well-posed input…
Deep learning models are able to approximate one specific dynamical system but struggle at learning generalisable dynamics, where dynamical systems obey the same laws of physics but contain different numbers of elements (e.g., double- and…
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of…
We propose a parameter optimization method for achieving static equilibrium of discrete elastic rods. Our method simultaneously optimizes material stiffness and rest shape parameters under box constraints to exactly enforce zero net force…
In this paper, we construct and analyze a multiscale (finite element) method for parabolic problems with heterogeneous dynamic boundary conditions. As origin, we consider a reformulation of the system in order to decouple the discretization…
Building towards a more covariant approach to canonical classical and quantum gravity we outline an approach to constrained dynamics that de-emphasizes the role of the Hamiltonian phase space and highlights the role of the Lagrangian phase…
Energetic particle effects in magnetic confinement fusion devices are commonly studied by hybrid kinetic-fluid simulation codes whose underlying continuum evolution equations often lack the correct energy balance. While two different…
Trajectory optimization is an efficient approach for solving optimal control problems for complex robotic systems. It relies on two key components: first the transcription into a sparse nonlinear program, and second the corresponding solver…
This paper develops a robust fixed time optimization framework for constrained problems that guarantees exact constraint satisfaction and convergence to KKT points within fixed time , independent of initial conditions. The approach treats…
In this paper, we present a novel general framework grounded in the factor graph theory to solve kinematic and dynamic problems for multi-body systems. Although the motion of multi-body systems is considered to be a well-studied problem and…
This paper is concerned with the application of the theory of quasivelocities for optimal control for underactuated mechanical systems. Using this theory, we convert the original problem in a variational second-order lagrangian system…
This paper introduces a sharp-interface approach to simulating fluid-structure interaction involving flexible bodies described by general nonlinear material models and across a broad range of mass density ratios. This new flexible-body…
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…
We propose a new approach in Lagrangian formalism for studying the fluid dynamics on noncommutative space. Starting with the Poisson bracket for single particle, a map from canonical Lagrangian variables to Eulerian variables is constructed…
In this paper, we propose a novel conservative formulation for solving kinetic equations via neural networks. More precisely, we formulate the learning problem as a constrained optimization problem with constraints that represent the…