14 citations · 19 across the 3 of their papers we have counts for
6 papers
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…
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…