Related papers: On the simulation of multibody systems with holono…
In this paper, we establish a set of criteria which are applied to discuss various formulations under which Lagrangian stochastic models can be found. These models are used for the simulation of fluid particles in single-phase turbulence as…
We construct a new model for relativistic particle on the noncommutative surface in $(2+1)$ dimensions, using the symplectic formalism of constrained systems and embedding the model on an extended phase space. We suggest a short cut to…
High-fidelity models are essential for accurately capturing nonlinear system dynamics. However, simulation of these models is often computationally too expensive and, due to their complexity, they are not directly suitable for analysis,…
In this paper we show how to compute algorithmically the full set of algebraically independent constraints for singular mechanical and field-theoretical models with polynomial Lagrangians. If a model under consideration is not singular as a…
We study the dynamics of the collinear points in the planar, restricted three-body problem, assuming that the primaries move on an elliptic orbit around a common barycenter. The equations of motion can be conveniently written in a rotating…
We study the quantization of three-dimensional many-body systems in rotating coordinate frames defined implicitly by frame conditions. We carry out the elimination of orientational degrees of freedom in general, giving the Hamiltonian for…
A description of Lagrangian and Hamiltonian formalisms naturally arisen from the invariance structure of given nonlinear dynamical systems on the infinite--dimensional functional manifold is presented. The basic ideas used to formulate the…
We consider tracking control for multibody systems which are modelled using holonomic and nonholonomic constraints. Furthermore, the systems may be underactuated and contain kinematic loops and are thus described by a set of…
Unfortunately, the Hamiltonian mechanics of degenerate Lagrangian systems is usually presented as a mere recipe of Dirac, with no explanation as to how it works. Then it comes to discussing conjectures of whether all primary constraints…
The goal of this presentation is to highlight various computational techniques used to study dynamics of quantum many-body systems. We examine the projection and variable phase methods being applied to multi-channel problems of scattering…
Using Dirac's approach to constrained dynamics, the Hamiltonian formulation of regular higher order Lagrangians is developed. The conventional description of such systems due to Ostrogradsky is recovered. However, unlike the latter, the…
The statistical mechanics of quantum-classical systems with holonomic constraints is formulated rigorously by unifying the classical Dirac bracket and the quantum-classical bracket in matrix form. The resulting Dirac quantum-classical…
We propose a first example of a simple classical field theory with nonholonomic constraints. Our model is a straightforward modification of a Cosserat rod. Based on a mechanical analogy, we argue that the constraint forces should be modeled…
This paper presents a coordinate-free formulation of virtual holonomic constraints for underactuated Lagrangian control systems on Riemannian manifolds. It is shown that when a virtual constraint enjoys a regularity property, the…
The formulation of a relativistic dynamical problem as a system of Hamilton equations by respecting the principles of Relativity is a delicate task, because in their classical form the Hamilton equations require the use of a time…
A new methodology is developed to integrate numerically the equations of motion for classical many-body systems in molecular dynamics simulations. Its distinguishable feature is the possibility to preserve, independently on the size of the…
The aim of this paper is to perform a deeper geometric analysis of problems appearing in dynamics of affinely rigid bodies. First of all we present a geometric interpretation of the polar and two-polar decomposition of affine motion. Later…
Exploiting the efficiency and stability of Position-Based Dynamics (PBD), we introduce a novel crowd simulation method that runs at interactive rates for hundreds of thousands of agents. Our method enables the detailed modeling of per-agent…
Numerical simulations of the air in the atmosphere and water in the oceans are essential for numerical weather prediction. The state-of-the-art for performing these fluid simulations relies on an Eulerian viewpoint, in which the fluid…
In this paper we study a discrete variational optimal control problem for the rigid body. The cost to be minimized is the external torque applied to move the rigid body from an initial condition to a pre-specified terminal condition.…