相关论文: Holonomic constraints : an analytical result

This paper presents a Lagrangian approach to simulating multibody dynamics in a tensegrity framework with an ability to tackle holonomic constraint violations in an energy-preserving scheme. Governing equations are described using…

We show that symplectic and linearly-implicit integrators proposed by [Zhang and Skeel, 1997] are variational linearizations of Newmark methods. When used in conjunction with penalty methods (i.e., methods that replace constraints by stiff…

In this paper we explore how concepts of high-dimensional data compression via random projections onto lower-dimensional spaces can be applied for tractable simulation of certain dynamical systems modeling complex interactions. In such…

In this paper, we present a detailed review/analysis of the Dirac quantisation of Hamiltonian systems with constraints. To this end, we use, as a guide, the physical example provided by the dynamics of a solid ball rolling, without…

This paper investigates a class of Lagrangian control systems with $n$ degrees-of-freedom (DOF) and n-1 actuators, assuming that $n-1$ virtual holonomic constraints have been enforced via feedback, and a basic regularity condition holds.…

The works presented in this habilitation concern the algorithmics of polynomials. This is a central topic in computer algebra, with numerous applications both within and outside the field - cryptography, error-correcting codes, etc. For…

In Hamiltonian time-dependent mechanics, the Poisson bracket does not define dynamic equations, that implies the corresponding peculiarities of describing time-dependent holonomic constraints. As in conservative mechanics, one can consider…

We present algorithms to solve coupled systems of linear differential equations, arising in the calculation of massive Feynman diagrams with local operator insertions at 3-loop order, which do {\it not} request special choices of bases.…

A multi-agent system designed to achieve distance-based shape control with flocking behavior can be seen as a mechanical system described by a Lagrangian function and subject to additional external forces. Forced variational integrators are…

We consider a mixed formulation of parametrized elasticity problems in terms of stress, displacement, and rotation. The latter two variables act as Lagrange multipliers to enforce conservation of linear and angular momentum. Due to the…

Non-holonomic constraints, both in the Lagragian and Hamiltonian formalism, are discussed from the geometrical viewpoint of implicit differential equations. A precise statement of both problems is presented remarking the similarities and…

This paper presents a geometric description on Lie algebroids of Lagrangian systems subject to nonholonomic constraints. The Lie algebroid framework provides a natural generalization of classical tangent bundle geometry. We define the…

Systems with singular higher order- Lagrangians are investigated by using the extended form of the canonical method. Besides, the canonical path integral formulation is generalized using the Hamilton- jacobi formulation to investigate…

Data-based discovery of effective, coarse-grained (CG) models of high-dimensional dynamical systems presents a unique challenge in computational physics and particularly in the context of multiscale problems. The present paper offers a…

Two effective methods for writing the dynamical equations for non-holonomic systems are illustrated. They are based on the two types of representation of the constraints: by parametric equations or by implicit equations. They can be applied…

In this paper, we investigate the possibility of improvement of the widely-used filtering algorithm for the linear constraints in constraint satisfaction problems in the presence of the alldifferent constraints. In many cases, the fact that…

This paper presents a geometric description of Lagrangian and Hamiltonian systems on Lie affgebroids subject to affine nonholonomic constraints. We define the notion of nonholonomically constrained system, and characterize regularity…

We introduce two numerical conjugacy invariants for dynamical systems -- the complexity and weak complexity indices -- which are well-suited for the study of "completely integrable" Hamiltonian systems. These invariants can be seen as "slow…

The main contribution of this thesis is the development of a new algorithm for solving convex quadratic programs. It consists in combining the method of multipliers with an infeasible active-set method. Our approach is iterative. In each…

We present a novel and rigorous approach to the Langevin dynamics of ideal polymer chains subject to internal distance constraints. The permanent constraints are modelled by harmonic potentials in the limit when the strength of the…