A gentle (without chopping) approach to the full Kostant-Toda lattice.
A geometric algorithm for the output functional controllability in general manipulation systems and mechanisms
In this paper the control of robotic manipulation is investigated. Manipulation system analysis and control are approached in a general framework. The geometric aspect of manipulation system dynamics is strongly emphasized by using the well developed techniques of geometric multivariable control theory. The focus is on the (functional) control of the crucial outputs in robotic manipulation, namely the reachable internal forces and the rigid-body object motions. A geometric control procedure is outlined...
A geometric analysis of dynamical systems with singular Lagrangians
We study dynamics of singular Lagrangian systems described by implicit differential equations from a geometric point of view using the exterior differential systems approach. We analyze a concrete Lagrangian previously studied by other authors by methods of Dirac’s constraint theory, and find its complete dynamics.
A geometric mechanism for diffusion in Hamiltonian systems overcoming the large gap problem: announcement of results.
A geometric procedure for robust decoupling control of contact forces in robotic manipulation
This paper deals with the problem of controlling contact forces in robotic manipulators with general kinematics. The main focus is on control of grasping contact forces exerted on the manipulated object. A visco-elastic model for contacts is adopted. The robustness of the decoupling controller with respect to the uncertainties affecting system parameters is investigated. Sufficient conditions for the invariance of decoupling action under perturbations on the contact stiffness and damping parameters...
A geometric setting for classical molecular dynamics
A geometric study of many-body systems.
A geometrical analysis of the field equations in field theory.
A group theoretic approach to generalized harmonic vibrations in a one dimensional lattice.
A Hamiltonian approach to the discrete-continuous dynamical systems in diamond-type crystals.
A hybrid procedure to identify the optimal stiffness coefficients of elastically restrained beams
The formulation of a bending vibration problem of an elastically restrained Bernoulli-Euler beam carrying a finite number of concentrated elements along its length is presented. In this study, the authors exploit the application of the differential evolution optimization technique to identify the torsional stiffness properties of the elastic supports of a Bernoulli-Euler beam. This hybrid strategy allows the determination of the natural frequencies and mode shapes of continuous beams, taking into...
A journey between two curves.
À l'infini en temps fini
A mathematical model of suspension bridges
We prove the existence of weak T-periodic solutions for a nonlinear mathematical model associated with suspension bridges. Under further assumptions a regularity result is also given.
A methodology for the numerical computation of normal forms, centre manifolds and first integrals of Hamiltonian systems.
A mixed system of differential equations as a mathematical model of vibrations of continuum-discrete mechanical systems.
A model of gauge theory with invariant variables.
A new geometric setting for classical field theories
A new geometrical setting for classical field theories is introduced. This description is strongly inspired by the one due to Skinner and Rusk for singular lagrangian systems. For a singular field theory a constraint algorithm is developed that gives a final constraint submanifold where a well-defined dynamics exists. The main advantage of this algorithm is that the second order condition is automatically included.
A new geometrical framework for time-dependent Hamiltonian mechanics.
A new Lagrangian dynamic reduction in field theory
For symmetric classical field theories on principal bundles there are two methods of symmetry reduction: covariant and dynamic. Assume that the classical field theory is given by a symmetric covariant Lagrangian density defined on the first jet bundle of a principal bundle. It is shown that covariant and dynamic reduction lead to equivalent equations of motion. This is achieved by constructing a new Lagrangian defined on an infinite dimensional space which turns out to be gauge group invariant.