3 papers
eess.SY2026
The Port-Hamiltonian Structure of Vehicle Manipulator Systems
Ramy Rashad
This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, sp…
math.NA2026
A domain decomposition strategy for natural imposition of mixed boundary conditions in port-Hamiltonian systems
S. D. M. de Jong, A. Brugnoli, R. Rashad +2
In this contribution, a finite element scheme to impose mixed boundary conditions without introducing Lagrange multipliers is presented for hyperbolic systems described as port-Ham…
math.NA2025
Finite element hybridization of port-Hamiltonian systems
Andrea Brugnoli, Ramy Rashad, Yi Zhang +1
In this contribution, we extend the hybridization framework for the Hodge Laplacian [Awanou et al., Hybridization and postprocessing in finite element exterior calculus, 2023] to p…