Related papers: Development of an Efficient Formulation for Volter…
I consider the equations of motion which follow from d'Alembert's principle for a general mechanical system in a space of N dimensions, constrained by a non-holonomic constraint which is linear and homogeneous in the generalised velocities.…
Stable dynamical systems are a flexible tool to plan robotic motions in real-time. In the robotic literature, dynamical system motions are typically planned without considering possible limitations in the robot's workspace. This work…
This technical report provides an in-depth evaluation of both established and state-of-the-art methods for simulating constrained rigid multi-body systems with hard-contact dynamics, using formulations of Nonlinear Complementarity Problems…
Nonholonomic systems are variational models commonly used for mechanical systems with ideal no-slip constraints. This note provides a differential-geometric derivation of the nonholonomic equations of motion for an arbitrary rigid body…
This paper addresses a new class of generalized Bolza problems governed by nonconvex integro-differential inclusions with endpoint constraints on trajectories, where the integral terms are given in the general (with time-dependent…
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…
The systems of nonlinear Volterra integral equations of the first kind with jump discontinuous kernels are studied. The iterative numerical method for such nonlinear systems is proposed. Proposed method employs the modified…
A new algorithm for numerical integration of the rigid-body equations of motion is proposed. The algorithm uses the leapfrog scheme and the quantities involved are angular velocities and orientational variables which can be expressed in…
Several N-body problems in ordinary (3-dimensional) space are introduced which are characterized by Newtonian equations of motion (``acceleration equal force;'' in most cases, the forces are velocity-dependent) and are amenable to exact…
The Hirota bilinear formalism and soliton solutions for a generalized Volterra system is presented. Also, starting from the soliton solutions, we obtain a class of nonsingular rational solutions using the "long wave" limit procedure of…
A version of the Dynamical Systems Method (DSM) for solving ill-posed nonlinear equations with monotone operators in a Hilbert space is studied in this paper. An a posteriori stopping rule, based on a discrepancy-type principle is proposed…
We introduce Coarse-Grained Nonlinear Dynamics, an efficient and universal parameterization of nonlinear system dynamics based on the Volterra series expansion. These models require a number of parameters only quasilinear in the system's…
The value of unknown parameters of multibody systems is crucial for prediction, monitoring, and control, sometimes estimated using a biased physics-based model leading to incorrect outcomes. Discovering motion equations of multibody systems…
We present a fully covariant transport framework for Molecular Dynamics that enables a consistent description of the evolution of relativistic N-body systems. For the first time, we derive relativistic equations of motion incorporating both…
The results presented in this paper are a natural development of those described in the paper {\it The Volterra Integrable case. Novel analytical and numerical results} (OCNMP Vol.4 (2024) pp 188-211), where the authors reconsidered the…
We propose an efficient way of solving optimal control problems for rigid-body systems on the basis of inverse dynamics and the multiple-shooting method. We treat all variables, including the state, acceleration, and control input torques,…
Background The development of a simulation model of full body reaching tasks that can predict endeffector trajectories and joint excursions consistent with experimental data is a non-trivial task. Because of the kinematic redundancy…
This paper begins with a dynamical model that was obtained by applying a machine learning technique (FJet) to time-series data; this dynamical model is then analyzed with Lie symmetry techniques to obtain constants of motion. This analysis…
We develop a data-driven framework for identifying non-Markovian dynamical equations of motion for open quantum systems. Starting from the Nakajima--Zwanzig formalism, we vectorize the reduced density matrix into a four-dimensional state…
In this paper, we have obtained motion equations for a wide class of one-dimensional singularities in 2-D ideal hydrodynamics. The simplest of them, are well known as point vortices. More complicated singularities correspond to vorticity…