Related papers: A Geometric Approach to Structure-Preserving Integ…
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…
We propose a geometrical approach to the investigation of Hamiltonian systems on (Pseudo) Riemannian manifolds. A new geometrical criterion of instability and chaos is proposed. This approach is more generic than well known reduction to the…
We introduce in this paper a manifold optimization framework that utilizes semi-Riemannian structures on the underlying smooth manifolds. Unlike in Riemannian geometry, where each tangent space is equipped with a positive definite inner…
Dirac structures and Morse families are used to obtain a geometric formalism that unifies most of the scenarios in mechanics (constrained calculus, nonholonomic systems, optimal control theory, higher-order mechanics, etc.), as the examples…
This paper presents a unified geometric framework for Brownian motion on manifolds, encompassing intrinsic Riemannian manifolds, embedded submanifolds, and Lie groups. The approach constructs the stochastic differential equation by…
This manuscript presents an attempt to introduce Lagrangian formalism for mechanical systems using para-quaternionic Kahler manifolds, which represent an interesting multidisciplinary field of research. In addition to, the…
We introduce new Langevin-type equations describing the rotational and translational motion of rigid bodies interacting through conservative and non-conservative forces, and hydrodynamic coupling. In the absence of non-conservative forces…
A variational formulation for accelerated optimization on normed vector spaces was recently introduced in Wibisono et al., and later generalized to the Riemannian manifold setting in Duruisseaux and Leok. This variational framework was…
In some previous papers, a geometric description of Lagrangian Mechanics on Lie algebroids has been developed. In the present paper, we give a Hamiltonian description of Mechanics on Lie algebroids. In addition, we introduce the notion of a…
We study orthogonal polynomial systems arising from general pre-Hilbert inner products on polynomial spaces, beyond the classical framework of measures. To each such inner product we associate a canonical Laplacian defined from an abstract…
The coalgebra approach to the construction of classical integrable systems from Poisson coalgebras is reviewed, and the essential role played by symplectic realizations in this framework is emphasized. Many examples of Hamiltonians with…
We study the optimal design of numerical integrators for dissipative systems, for which there exists an underlying thermodynamic structure known as GENERIC (general equation for the nonequilibrium reversible-irreversible coupling). We…
Symplectic integrators offer many advantages for the numerical solution of Hamiltonian differential equations, including bounded energy error and the preservation of invariant sets. Two of the central Hamiltonian systems encountered in…
This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework incorporates a singularity-free director representation of…
This paper presents a geometric framework for analysis of dynamics of flapping wing micro aerial vehicles (FWMAV) which achieve locomotion in the special Euclidean group SE(3) using internal shape changes. We review the special structure of…
Neural operators offer an effective framework for learning solutions of partial differential equations for many physical systems in a resolution-invariant and data-driven manner. Existing neural operators, however, often suffer from…
In this paper we first propose a framework of structure-preserving submersions, which generalises the concept of a Riemannian submersion, and dualises the concept of subgeometry, or "structure-preserving immersions". The emphasis of our…
Mathematical descriptions of dynamical systems are deeply rooted in topological spaces defined by non-Euclidean geometry. This paper proposes leveraging structure-rich geometric spaces for machine learning to achieve structural…
It is known that some equations of differential geometry are derived from variational principle in form of Euler-Lagrange equations. The equations of geodesic flow in Riemannian geometry is an example. Conversely, having Lagrangian…
Contact integrators are a family of geometric numerical schemes which guarantee the conservation of the contact structure. In this work we review the construction of both the variational and Hamiltonian versions of these methods. We…