18 citations · 46 across the 7 of their papers we have counts for
10 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…
The Principle Bundle Structure of Continuum Mechanics
Stefano Stramigioli
In this paper it is shown that the structure of the configuration space of any continua is what is called in differential geometry a {\it principle bundle} \cite{Frankel2011ThePhys…
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…