Related papers: Combining Moving Mass Actuators and Manoeuvring Mo…
The motion of a rolling ball actuated by internal point masses that move inside the ball's frame of reference is considered. The equations of motion are derived by applying Euler-Poincar\'e's symmetry reduction method in concert with…
A formalism of classical mechanics is given for time-dependent many-body states of quantum mechanics, describing both fluid flow and point mass trajectories. The familiar equations of energy, motion, and those of Lagrangian mechanics are…
Using Euler's equations of motion and the Hamiltonian formulation, we obtain the equations of motion of systems with internal angular momentum that are moving with respect to a given reference frame, when subjected to a torque which is…
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…
A Hamiltonian model for the propagation of internal water waves interacting with surface waves, a current and an uneven bottom is examined. Using the so-called Dirichlet-Neumann operators, the water wave system is expressed in the…
Aerial manipulators (AM) exhibit particularly challenging, non-linear dynamics; the UAV and the manipulator it is carrying form a tightly coupled dynamic system, mutually impacting each other. The mathematical model describing these…
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike…
Buoyant, finite-size or inertial particle motion is fundamentally unlike neutrally buoyant, infinitesimally small or Lagrangian particle motion. The de-jure fluid mechanics framework for the description of inertial particle dynamics is…
A unified formulation of rigid body dynamics based on Gauss principle is proposed. The Lagrange, Kirchhoff and Newton-Euler equations are seen to arise from different choices of the quasicoordinates in the velocity space. The…
We introduce a new dynamical system, at the interface between second-order dynamics with inertia and Newton's method. This system extends the class of inertial Newton-like dynamics by featuring a time-dependent parameter in front of the…
The Euler-Poincar\'e approach to complex fluids is used to derive multiscale equations for computationally modelling Euler flows as a basis for modelling turbulence. The model is based on a \emph{kinematic sweeping ansatz} (KSA) which…
An overview of recent results pertaining to the hydrodynamic description (both Newtonian and non-Newtonian) of granular gases described by the Boltzmann equation for inelastic Maxwell models is presented. The use of this mathematical model…
We investigate a one-dimensional model of active motion, which takes into account the effects of persistent self-propulsion through a memory function in a dissipative-like term of the generalized Langevin equation for particle swimming…
The Euler--Poincar\'e equations, firstly introduced by Henri Poincar\'e in 1901, arise from the application of Lagrangian mechanics to systems on Lie groups that exhibit symmetries, particularly in the contexts of classical mechanics and…
We propose a modification of Maxwell's macroscopic fundamental set of equations in vacuum in order to clarify Faraday's law of induction. Using this procedure, the Lorentz force is no longer separate from Maxwell's equations. The Lorentz…
The equations of hydrodynamics including mass, linear momentum, angular momentum, and energy are derived by coarse-graining the microscopic equations of motion for systems consisting of rotary dumbbells driven by internal torques.
The general, non-dissipative, two-fluid model in plasma physics is Hamiltonian, but this property is sometimes lost or obscured in the process of deriving simplified (or reduced) two-fluid or one-fluid models from the two-fluid equations of…
We consider the motion of several rigid bodies immersed in a two-dimensional incompress-ible perfect fluid, the whole system being bounded by an external impermeable fixed boundary. The fluid motion is described by the incompressible Euler…
In this work a finite element simulation of the motion of a rigid body in a fluid, with free surface, is described. A completely general referential description (of which both Lagrangian and Eulerian descriptions are special cases) of an…
We studied numerically the dynamics of colliding rigid bodies in a Newtonian fluid. The finite element method is used to solve the fluid-body interaction and the fluid motion is described in the Arbitrary-Lagrangian-Eulerian framework. To…