Related papers: Geometrically Explicit Cosserat-Rod Modeling with …
Tensegrity structures have been extensively studied over the last years due to their potential applications in modern engineering like metamaterials, deployable structures, planetary lander modules, etc. Many of the form-finding methods…
The purpose of this paper is to construct a generalized r-matrix structure of finite dimensional systems and an approach to obtain the algebro-geometric solutions of integrable nonlinear evolution equations (NLEEs). Our starting point is a…
The symmetries described by Pin groups are the result of combining a finite number of discrete reflections in (hyper)planes. The current work shows how an analysis using geometric algebra provides a picture complementary to that of the…
This thesis studies normal forms for Poisson structures around symplectic leaves using several techniques: geometric, formal and analytic ones. One of the main results (Theorem 2) is a normal form theorem in Poisson geometry, which is the…
Logarithmic conformation reformulations for viscoelastic constitutive laws have alleviated the high Weissenberg number problem, and the exploration of highly elastic flows became possible. However, stabilized formulations for logarithmic…
The direct computation of the third-order normal form for a geometrically nonlinear structure discretised with the finite element (FE) method, is detailed. The procedure allows to define a nonlinear mapping in order to derive accurate…
Two new approaches to solving first-order quasilinear elliptic systems of PDEs in many dimensions are proposed. The first method is based on an analysis of multimode solutions expressible in terms of Riemann invariants, based on links…
Streamline-based quad meshing algorithms use smooth cross fields to partition surfaces into quadrilateral regions by tracing cross field separatrices. In practice, re-entrant corners and misalignment of singularities lead to small regions…
Continuum robots are flexible, thin manipulators capable of navigating confined or delicate environments making them well suited for surgical applications. Previous approaches to continuum robot state estimation typically rely on…
In this paper we derive the linear elastic Cosserat shell model incorporating effects up to order $O(h^5)$ in the shell thickness $h$ as a particular case of the recently introduced geometrically nonlinear elastic Cosserat shell model. The…
In the subdivision approach to robot path planning, we need to subdivide the configuration space of a robot into nice cells to perform various computations. For a rigid spatial robot, this configuration space is $SE(3)=\mathbb{R}^3\times…
We want to propose a new discretization ansatz for the second order Hessian complex exploiting benefits of isogeometric analysis, namely the possibility of high-order convergence and smoothness of test functions. Although our approach is…
This article presents an identification methodology to capture general relationships, with application to piecewise nonlinear approximations of model predictive control for constrained (non)linear systems. The mathematical formulation…
The Lie-point symmetry method is used to find some closed-form solutions for a constitutive equation modeling stress in elastic materials. The partial differential equation (PDE), which involves a power law with arbitrary exponent n, was…
This article deals with the mathematical derivation and the validation over benchmark examples of a numerical method for the solution of a finite-strain holonomic (rate-independent) Cosserat plasticity problem for materials, possibly with…
A geometrically exact membrane formulation is presented that is based on curvilinear coordinates and isogeometric finite elements, and is suitable for both solid and liquid membranes. The curvilinear coordinate system is used to describe…
The large sparse linear systems arising from the finite element or finite difference discretization of elliptic PDEs can be solved directly via, e.g., nested dissection or multifrontal methods. Such techniques reorder the nodes in the grid…
The classical continuous mixed formulation of linear elasticity with pointwise symmetric stresses allows for a conforming finite element discretization with piecewise polynomials of degree at least three. Symmetric stress approximations of…
In this work we propose and analyze a novel Hybrid High-Order discretization of a class of (linear and) nonlinear elasticity models in the small deformation regime which are of common use in solid mechanics. The proposed method is valid in…
We construct the moduli space of finite dimensional representations of generalized quivers for arbitrary connected complex reductive groups using Geometric Invariant Theory as well as Symplectic reduction methods. We explicit characterize…