30 citations · 134 across the 13 of their papers we have counts for
13 papers
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…
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…
The port-Hamiltonian structure of continuum mechanics
Ramy Rashad, Stefano Stramigioli
In this paper we present a novel approach to the geometric formulation of solid and fluid mechanics within the port-Hamiltonian framework, which extends the standard Hamiltonian fo…
Intrinsic nonlinear elasticity: An exterior calculus formulation
Ramy Rashad, Andrea Brugnoli, Federico Califano +2
In this paper we formulate the theory of nonlinear elasticity in a geometrically intrinsic manner using exterior calculus and bundle-valued differential forms. We represent kinemat…
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…
On the use of energy tanks for robotic systems
Federico Califano, Ramy Rashad, Cristian Secchi +1
In this document we describe and discuss energy tanks, a control algorithm which has gained popularity inside the robotics and control community over the last years. This article h…
A differential geometric description of thermodynamics in continuum mechanics with application to Fourier-Navier-Stokes fluids
Federico Califano, Ramy Rashad, Stefano Stramigioli
A description of thermodynamics for continuum mechanical systems is presented in the coordinate-free language of exterior calculus. First, a careful description of the mathematical…
Dual field structure-preserving discretization of port-Hamiltonian systems using finite element exterior calculus
Andrea Brugnoli, Ramy Rashad, Stefano Stramigioli
In this paper we propose a novel approach to discretize linear port-Hamiltonian systems while preserving the underlying structure. We present a finite element exterior calculus for…
Energetic decomposition of Distributed Systems with Moving Material Domains: the port-Hamiltonian model of Fluid-Structure Interaction
Federico Califano, Ramy Rashad, Frederic P. Schuller +1
We introduce the geometric structure underlying the port-Hamiltonian models for distributed parameter systems exhibiting moving material domains.
Geometric and energy-aware decomposition of the Navier-Stokes equations: A port-Hamiltonian approach
Federico Califano, Ramy Rashad, Frederic P. Schuller +1
A port-Hamiltonian model for compressible Newtonian fluid dynamics is presented in entirely coordinate-independent geometric fashion. This is achieved by use of tensor-valued diffe…
Port-Hamiltonian Modeling of Ideal Fluid Flow: Part II. Compressible and Incompressible Flow
Ramy Rashad, Federico Califano, Frederic P. Schuller +1
Part I of this paper presented a systematic derivation of the Stokes Dirac structure underlying the port-Hamiltonian model of ideal fluid flow on Riemannian manifolds. Starting fro…
Port-Hamiltonian Modeling of Ideal Fluid Flow: Part I. Foundations and Kinetic Energy
Ramy Rashad, Federico Califano, Frederic P. Schuller +1
In this two-parts paper, we present a systematic procedure to extend the known Hamiltonian model of ideal inviscid fluid flow on Riemannian manifolds in terms of Lie-Poisson struct…
Design, Modeling, and Geometric Control on SE(3) of a Fully-Actuated Hexarotor for Aerial Interaction
Ramy Rashad, Petra Kuipers, Johan Engelen +1
In this work we present the optimization-based design and control of a fully-actuated omnidirectional hexarotor. The tilt angles of the propellers are designed by maximizing the co…