Related papers: Analytical Mechanics With Quasi-Velocities

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…

In this work, we propose a geometric framework for analyzing mechanical manipulation, for instance, by a robotic agent. Under the assumption of conservative forces and quasi-static manipulation, we use energy methods to derive a metric. In…

We present a novel framework for quantizing constrained quantum systems in which the processes of quantization and constraint enforcement are performed simultaneously. The approach is based on an extension of the stationary action…

This paper presents a unified approach for inverse and direct dynamics of constrained multibody systems that can serve as a basis for analysis, simulation, and control. The main advantage of the formulation of the dynamic is that it does…

A general prescription for the treatment of constrained quantum motion is outlined. We consider in particular constraints defined by algebraic submanifolds of the quantum state space. The resulting formalism is applied to obtain solutions…

The paper analyzes a Lagrangian system which is controlled by directly assigning some of the coordinates as functions of time, by means of frictionless constraints. In a natural system of coordinates, the equations of motions contain terms…

The analysis of the dynamics of a material point perfectly constrained to a submanifold of the three-dimensional euclidean space and subjected to a locally conservative force's field, namely a force's field corresponding to a closed but not…

We study relations between vakonomically and nonholonomically constrained Lagrangian dynamics for the same set of linear constraints. The basic idea is to compare both situations at the level of variational principles, not equations of…

We analyze the dynamical equations obeyed by a classical system with position-dependent mass. It is shown that there is a non-conservative force quadratic in the velocity associated to the variable mass. We construct the Lagrangian and the…

We introduce a data-driven method for learning the equations of motion of mechanical systems directly from position measurements, without requiring access to velocity data. This is particularly relevant in system identification tasks where…

In several domains of physics, including first principle simulations and classical models for polarizable systems, the minimization of an energy function with respect to a set of auxiliary variables must be performed to define the dynamics…

In classical mechanics, external constraints on the dynamical variables can be easily implemented within the Lagrangian formulation. Conversely, the extension of this idea to the quantum realm, which dates back to Dirac, has proven…

In this paper a new formulation of quantum dynamics of totally constrained systems is developed, in which physical quantities representing time are included as observables. In this formulation the hamiltonian constraints are imposed on a…

Collective center-of-mass variables are introduced in the Lagrangian formalism of the relativistic classical mechanics of directly interacting particles. It is shown that the transition to the Hamiltonian formalism leads to the…

We derive the dynamics of several rigid bodies of arbitrary shape in a 2-dimensional inviscid and incompressible fluid, whose vorticity field is given by point vortices. We adopt the idea of Vankerschaver et al. (2009) to derive the…

We present a Total Lagrangian finite element framework for finite-deformation multibody dynamics. The framework combines a compact kinematic representation, a deformation-gradient-based formulation, an element-agnostic constitutive…

A new approach to relativistic mechanics is proposed, suitable to describe dynamics of different kinds of relativistic particles. Mathematically it is based on an application of the recent geometric theory of nonholonomic systems on fibred…

A general framework for performing event-driven simulations of systems with semi-flexible or rigid bodies interacting under impulsive torques and forces is outlined. Two different approaches are presented. In the first, the dynamics and…

We discuss the physical meaning and significance of statistical forces on quasi-static probes in first order around detailed balance for driven media. Exploiting the quasi-static energetics and the structure of (McLennan) steady…

This paper introduces a new global dynamics and chaos indicator based on the method of Lagrangian Descriptor apt for discriminating ordered and deterministic chaotic motions in multidimensional systems. The selected implementation of this…