相关论文: Mechanics of Cosserat media: I. non-relativistic s…

We propose a method for the description and simulation of the nonlinear dynamics of slender structures modeled as Cosserat rods. It is based on interpreting the strains and the generalized velocities of the cross sections as basic variables…

The derivation of the non-relativistic Cosserat equations that was described in Part I of this series of papers is extended from the group of rigid motions in three-dimensional Euclidian space to the Poincar\'e group of four-dimensional…

We present a geometric formulation of classical Cosserat elasticity in which the coframe and rotational connection are treated as independent variational fields. In contrast to conventional metric-based approaches, this formulation makes…

Mechanical systems of Cosserat--Zhilin are introduced as the main object of Newtonian (non--relativistic) mechanics on the base of new notions of vector calculus - sliders and screw measures (bi-measures). The differential equations of…

The Cosserat solid is a theoretical model of a continuum whose elementary constituents are notional rigid bodies. Here we present a formulation of the mechanics of a Cosserat solid in the language of modern differential geometry and…

We consider a subsystem of the Special Cosserat Theory of Rods and construct an explicit form of its solution that depends on three arbitrary functions in (s,t) and three arbitrary functions in t. Assuming analyticity of the arbitrary…

We suggest an alternative mathematical model for the massless neutrino. Consider an elastic continuum in 3-dimensional Euclidean space and assume that points of this continuum can experience no displacements, only rotations. This framework…

In this paper, the modelling strategy of a Cosserat rod element (CRE) is addressed systematically for 3-dimensional dynamical analysis of slender structures. We employ the exact nonlinear kinematic relationships in the sense of Cosserat…

We present a geometric formulation of the mechanics of a field that takes values in a homogeneous space \mathbb{X} on which a Lie group G acts transitively. This generalises the mechanics of Cosserat media where \mathbb{X} is the frame…

We consider an infinite 3-dimensional elastic continuum whose material points experience no displacements, only rotations. This framework is a special case of the Cosserat theory of elasticity. Rotations of material points are described…

This paper proposes a methodology to stabilize relative equilibria in a model of identical, steered particles moving in three-dimensional Euclidean space. Exploiting the Lie group structure of the resulting dynamical system, the…

Slender structures are ubiquitous in biological and physical systems, from bacterial flagella to soft robotic arms. The Cosserat rod provides a mathematical framework for slender bodies that can stretch, shear, twist and bend. In viscous…

Cosserat rod theory is the popular approach to modeling ferromagnetic soft robots as 1-Dimensional (1D) slender structures in most applications, such as biomedical. However, recent soft robots designed for locomotion and manipulation often…

We suggest an alternative mathematical model for the electron in dimension 1+2. We think of our (1+2)-dimensional spacetime as an elastic continuum whose material points can experience no displacements, only rotations. This framework is a…

We show that the classical mechanics of an algebraic model are implied by its quantizations. An algebraic model is defined, and the corresponding classical and quantum realizations are given in terms of a spectrum generating algebra.…

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…

In spite of recent progress, soft robotics still suffers from a lack of unified modeling framework. Nowadays, the most adopted model for the design and control of soft robots is the piece-wise constant curvature model, with its consolidated…

Soft robots have many advantages over rigid robots thanks to their compliant and passive nature. However, it is generally challenging to model the dynamics of soft robots due to their high spatial dimensionality, making it difficult to use…

The dynamics of a quantum system coupled to a classical environment and subject to constraints that drive it out of equilibrium is described. The evolution of the system is governed by the quantum-classical Liouville equation. Rather than…

A general approach is presented for quantizing a metric nonlinear system on a manifold of constant curvature. It makes use of a curvature dependent procedure which relies on determining Noether symmetries from the metric. The curvature of…