30 citations · 179 across the 20 of their papers we have counts for
5 papers · 1 filter
Discovering Efficient Periodic Behaviours in Mechanical Systems via Neural Approximators
Yannik Wotte, Sven Dummer, Nicolò Botteghi +3
It is well known that conservative mechanical systems exhibit local oscillatory behaviours due to their elastic and gravitational potentials, which completely characterise these pe…
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…
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…